摘要
在传统机器人运动学分析方法的基础上,对机器人运动学方程进行了简化。根据简化后的运动学方程构造了一种新的运动学分析算法。以该算法为核心,设计了一种软件化的五自由度步进电机机器人控制器。该控制器能够依据输入的空间坐标信息按照新设计的算法计算各关节变量,根据驱动电机特性通过并口发送控制脉冲控制机器人运动。计算实例验证了所设计的算法和五自由度机器人控制器的可行性。
Based on the traditional robot kinematics analysis ,robot kinematics equations are simplifled. According to the simplified kinematics＇ equations ,a new kinematics analysis algorithm is proposed. Centered on the algorithm,a software-controller for the 5-DOF robot derived by stepper motors is designed. The controller can calculate the joint variables with the algorithm based on the input space coordinates. Through the parallel port,the controller can also send signals according to characteristics of impulse electro motors to control the robot. A case study is provided to evaluate the feasibility of the new algorithm and the controller.
出处
《机械设计与制造》
北大核心
2010年第3期154-156,共3页
Machinery Design & Manufacture
基金
国家高技术研究发展计划(863计划)资助项目(2007AA04Z111)
关键词
机器人控制
运动学分析
控制算法
Robot control
Kinematics＇ analysis
Control algorithm ： Robot control
Kinematics＇ analysis
Control algorithm
