摘要
介绍了一种圆柱坐标式四自由度RPPR教学机器人,分析了其机械结构组成及运动学求解问题,采用基于PC+DSP运动控制卡的模式构建了其控制系统,控制软件主要功能包括基于轴和坐标系的控制、示教编程和三维仿真等,并具有良好人机交互的控制界面。
A kind of instructional RPPR-robot with was introduced. Its mechanical structure and inverse cylindrical coordinate system and four DOF （Degree of Freedom） kinematics were analyzed. Based on the mode of PC ＋ DSP motion control card, the hardware of its control system was constructed. The robot＇s control software was developed with good user interface, and its main function includes axes-based control, coordinate-based .control, teach-program and three dimension simulation etc.
出处
《实验室研究与探索》
CAS
2007年第10期34-35,108,共3页
Research and Exploration In Laboratory
基金
浙江理工大学教学改革项目(yb06018)
关键词
教学机器人
设计
控制系统
instructional robot
design
control system
