摘要
为解决机械腿的变速运动控制问题,将机电一体化技术应用到多关节机械腿的控制当中。开展了基于多关节机械腿的运动控制分析,建立了变速方式和机械腿运动速度之间的关系,提出了一种可选择的变速控制方法,并在此基础上对系统响应时间、运行误差等进行了评价。多次试验结果表明,本系统具有良好的控制稳定性。
In order to solve the speed control problems of the manipulator, the mechatronics technique was applied in the control of multi-join manipulator. After the analysis of movement control , the relationship between shift type and multi-join manipulator was established. A meth- od was presented that the optional speed control of the multi-join manipulator. The system response time and the system error were evaluated. The experimental results show that the system has a good stability.
出处
《机电工程》
CAS
2011年第7期823-826,共4页
Journal of Mechanical & Electrical Engineering
