摘要
研究一种二平动自由度高速轻型并联机械手的运动控制技术。针对快速抓放操作的需要,给出了机械手在操作空间的轨迹规划方式和关节空间的精插补策略,理论上保证了机械手的速度和轨迹精度,并通过实验获得了机械手的位置和速度及其误差跟随曲线,结果证明该方式可靠有效。
The path planning and motion control technology of a 2-DOF high-speed, light-weight, parallel manipulator is presented in this paper. A kind of effective path planning method in the working space is given accordingto rapid 'picking and placing' operations. Preconcerted velocity and trajectory precision is obtained theoretically and validated comparing with the acquired feedback data via experiment.
出处
《制造业自动化》
2004年第9期29-32,61,共5页
Manufacturing Automation
基金
国家863计划资助项目(2001AA421220)
关键词
并联机械手
轨迹规划
运动控制
parallel manipulator
path planning
motion control
