双手协调系统的仿真及可变式结构

TWO-ARM COORDINATE SYSTEM SIMULATION AND VARIABLE STRUCTURE

本文提出了机械手协调控制的仿真方法.仿真器中由于存在控制模型和仿真模型.仿真器既可用来分析控制器的性能。又可分析传感器及机械手参数误差的效应.仿真器采用可变式结构.即仿真器由一个专家系统 EXPV 和一个表达式计算程序产生器 EXPC 自动生成。它改善了人机界面。扩展了仿真器的适用范围。

A simulation method of two-arm coordinate control is proposed.Because there are control moduleand simulation module in simulator,it can be used to test the properties of controller and to analyse the ef-fect of parameter error of sensors and robot arms.Variable structure is adopted in this simulator,that is,the simulator is generated automatically by an expert system(EXPV) and an expression calculatingprogram generator(EXPC).Thus man-machine interface is improved and the application area is broad-ened.