设计了一基于模型的计算力矩控制算法,并深入探讨了其应用于三种不同轨迹规划方法下的控制性能。
A model based control scheme employing computed-torque control has been presented, and its applications in three different path planning methods have also been discussed.
借助机械系统动力学仿真分析软件ADAMS,探讨了在计算力矩、模糊变结构控制策略和所遴选的轨迹规划方法下,机械手的控制效果。
By using the simulation software ADAMS, the performance of manipulator which employing the designed control algorithms and the selected path planning method has been discussed.
本文针对考虑关节弹性的两冗余度机器人协调操作中的关节轨迹规划问题进行了研究。
In this article, the problem of joint trajectory planning in the coordinated manipulation of redundant robots with joint elasticity is researched.
机器人的轨迹规划可以在关节空间中进行,也可以在直角坐标空间中进行。
The trajectory planning of robot can be done in joint space coordinate and Cartesian space coordinate.
根据该指标所进行的轨迹规划可以获得最小的关节驱动力矩。
The path planning carried out by this index will give a minimum joint driving torque.
宏微机器人轨迹规划离线进行,通过任务放大的方法分解宏微机器人运动学冗余。
Trajectory planning is completed off line and the kinematic redundancy of macro micro manipulator system is resolved by task augment.
提出了一种新的喷涂机械人控制系统模式及一种新的轨迹规划算法。
A new spray paint robots control system model and a new Trajectory planning arithmetic.
本文从机器人任务空间的几何结构出发,对任务空间轨迹规划进行了总结。
The task space trajectory planning for robots is reviewed and analyzed based on the geometric structure of task space.
研究解决了基于工作空间焊接机器人无碰撞轨迹规划问题的有效途径几何图形法。
In this paper, an effective geometry-graphics method based on Euclid space for welding robot collision-free trajectory planning is studied.
该算法在CAD模型分割、建造、几何特征提取、生产车间以及机器人运动轨迹规划等方面都有很高的应用价值。
The algorithm have large application value in the many fields such as models partition, constructing, geometric character distilling in CAD, the manufacture shop and robot motion track planing.
进而重点介绍机器人与生产线间的协调轨迹规划方法。
A method of coordinated trajectory planning between the robot and the production line is presented in detail.
提出的运动轨迹规划方法对一般的6自由度绳牵引并联机构都适用。
Also, the method of motion trajectory planning proposed is applicable for general 6-dof wire-driven PKMs.
本文首先介绍了国内外喷漆机器人离线编程系统的研究现状及意义,提出了喷枪最优轨迹规划问题(OTPP)。
This paper first describes the research purport and current research level of the off-line programming system for painting robot, and points out the Optimal Trajectory Planning Problems (OTPP).
该方法适合于机器人在以线段和圆弧为边界障碍物环境下运动的轨迹规划算法。
This method is a trajectory planning algorithm which is adapted to the robot under the circumstance where the line segment and the arc are boundary obstacles.
主要研究移动焊接机器人在自寻迹过程中位姿调整的轨迹规划。
The trajectory planning of posture adjustment is presented for a weld mobile robot during auto-searching weld line.
基于最优载荷分配,针对双臂机器人协调运动的关节轨迹规划进行研究。
Based on the minimal load distribution, the joint trajectory planning was researched for coordinate motion of dual-arm robot in this paper.
介绍了一种双机器人时间优化的避碰轨迹规划方法。
A kind of track planning method for time-optimal and collision avoidance dual robots was introduced.
工业控制计算机进行空间轨迹规划计算而DMC实现关节运动的控制。
The computation of spatial trajectory planning was carried out by industrial computer, while joints motion control was performed by DMC.
该方法实现了模型的准确定位,集成了轨迹规划的位姿数据。
This simulation system can implement precise positioning of solid model in each frame and integrating data of trajectory planning.
三是运动控制卡轨迹规划的实现。
另外对二自由度稳定平台进行了轨迹规划和生成,推算出平台的运动参数。
Then parameter of motion is calculated after confirming the kinetic track of the two-degree of freedom stabilized platform.
在毋需获知最优机动轨迹规划的情况下,可用于卫星任意时刻的姿态捕获和机动控制。
This method would be applied for the attitude capture and maneuvers control of the satellite at any time when the optimum maneuver trajectory was unknown.
由于这种方法综合了关节空间轨迹规划和笛卡尔空间轨迹规划各自所具有的优点,因此既简单又直观。
This method is simple as well as intuitive by virtue of synthesizing the advantages of both the path planning in joint space and that in cartesian space.
最后,应用近似化方法和黎曼度量方法,研究了机器人最优轨迹规划的问题。
In the end, the problem of robot trajectory planning is investigated by the linearization method and Riemannian metric.
主要关键技术包括参数化特征建模、数控加工切削参数优化、刀具轨迹规划等。
Adopting the main key technologies including feature-based modeling, optimization of cutting parameter, layout of the cutters tracks etc.
主要关键技术包括参数化特征建模、数控加工切削用量优化、刀具轨迹规划等。
Adopting the main key technologies including feature-based modeling, optimization of cutting parameters, layout of the cutters tracks etc.
主要关键技术包括参数化特征建模、数控加工切削用量优化、刀具轨迹规划等。
Adopting the main key technologies including feature-based modeling, optimization of cutting parameters, layout of the cutters tracks etc.
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