摘要
为了适应机器人教学的需要,我们研制了 JTR-1型教学机器人.其特点是:(1)五关节小型机械手.(2)关节控制全部采用闭环调相式伺服控制.(3)IBM-PC 实行运动规划和对关节的指令控制.(4)透明度高.有较好的性能价格比.本文还叙述了在 JTR—1型教学机器人上实行的视觉闭环伺服控制.它的批量生产将为高等院校机器人的教学和科研提供有力工具.
To meet the needs of education and research in robotics,an educational robot manipulator JTR-1has been designed and built.Its characteristics are as follows(1)This is a 5-joint robot manipulator;(2)Each joint is controlled by a closed loop phase—modulated servo system,either analogue or digital;(3)Motion planning and joint's motion commands are realized by IBM—PC microcomputer;(4)High trans-parency and good performance-cost ratio.This paper also describes visual servo control,which has beenimplemented on this robot manipulator.Now,this robot manipulator is as a product manufactured byScientific Instrument Factory,which belongs to The Chinese Academy of Sciences.We believe,it will bebenefial,indeed,to education and research in robotics.
出处
《机器人》
EI
CSCD
北大核心
1989年第5期1-6,共6页
Robot
基金
国家教委科学基金
关键词
机器人
教育
数字控制
计算机视觉
robot
education
digital control
computer vision
variable strncture control
