摘要
为了设计面向柔性自动化装配的Stewart机器人传感与控制系统,并且提高系统建模与测试的效率,在Windows环境下,基于Lab VIEW,以Stewart平台为控制对象,进行机器人六维力测量和运动学逆解的建模与计算,然后以PC+运动控制卡(IMC3062E)和PC+数据采集卡(PCI8605)的硬件平台为实验平台,对系统进行开发与测试。结果表明,所开发的传感与控制系统可以有效对六维力/力矩进行测量,并实现对动平台的速度控制。
Stewart robot sensing and controlling system for flexible automatic assembly is designed on purpose, and the efficiency of system modeling and testing are improved. In Windows environment, based on LabVIEW, Stewart platform as controlling object, a solution was proposed for modeling and calculation of robot six dimension （6D） force measurement and kinematics inverse solutions, then in the experiment platform of PC＋ movement control card （IMC3062E） and PC＋ data acquisition card （PCI8605） hardware plat- form, the system was developed and tested. Experiments present that the sensing and controlling system developed can measure 6D force or moment effectively, and implement velocity control of the dynamic platform.
出处
《机床与液压》
北大核心
2017年第17期82-86,共5页
Machine Tool & Hydraulics
基金
常熟理工学院校级科研项目(KYZ2015010Z)
