摘要
针对商品化工业机器人手臂系统封闭、开放性差的问题,采用机器人可重构模块来构建机器人的双臂系统。在分析机器人手臂构成特点的基础上,进行了手臂模块的选型,完成了由模块化关节组成的服务机器人双臂硬件平台的搭建;通过分析手臂功能模块化的特点,设计了手臂的分布式控制系统方案,并通过实验验证了双臂软硬件系统构建的正确性及稳定性。
To the problem of industrial robot arm＇s closed control system, robot reconfigurable modules were used to constitute robot arm system. Analyzing the features of robot arm structure, the module selection was completed and the dual-arm hardware plat- form was built. According to the modularization characteristics of the service robot dual-arm joints, the distributed control system was designed. The correction and stability of the robot dual-arm＇s hardware and software system were proved by experiments.
出处
《机床与液压》
北大核心
2013年第17期21-23,11,共4页
Machine Tool & Hydraulics
基金
国家863计划资助项目(2007AA041604)
安徽理工大学引进人才(博士)基金资助项目(11228)
安徽理工大学青年教师基金资助项目(12289)
