摘要
提出一种适合嵌入式系统实现的空间串联机械臂位置逆解算法,对冗余及非冗余串联型机械臂问题均有效,建立过程规范简单,很容易用于机械臂的嵌入式控制器开发而且对嵌入式控制器的资源占用很少.文中列出部分算法仿真结果及基于多款微控制器平台测试获得的实验数据,对基于这种方法进行机械臂控制开发嵌入式控制系统具有重要指导意义.
This paper formulates a generalized method for solving manipulator inverse displacement problem, which is applicable for hyper-redundant and non-redundant series manipulator. This method is normalized and suitable for developing the manipulator's embedded control system. The possession of system, resources is few. Some of the simulation results and experimental findings on several MCUs (Micro Control Units) are mentioned, which are useful for some manipulator controlling experiments based on this method.
出处
《机器人》
EI
CSCD
北大核心
2005年第3期256-260,共5页
Robot
基金
国家863计划资助项目(2003AA421020).
关键词
嵌入式系统
机械臂
机器人
冗余
embedded system
manipulator
robot
redundancy
