陈明华, 李人厚, 邵福庆. 机械手控制的新数控方法[J]. 机器人, 1988, 10(1): 35-38.
引用本文: 陈明华, 李人厚, 邵福庆. 机械手控制的新数控方法[J]. 机器人, 1988, 10(1): 35-38.
CHEN Minghua, LI Renhou, SHAO Fuqing. A New Numeric Control Method for Manipulator[J]. ROBOT, 1988, 10(1): 35-38.
Citation: CHEN Minghua, LI Renhou, SHAO Fuqing. A New Numeric Control Method for Manipulator[J]. ROBOT, 1988, 10(1): 35-38.

机械手控制的新数控方法

A New Numeric Control Method for Manipulator

  • 摘要: 本文提出“离线插补编码——在线解码与控制”的新数控结构方案,把传统数控方案的在线控制功能改由软件离线地实现,而把整个动作过程用编码记录下来,最终通过解码实现在线控制.这样,主要功能由软件离线地实现,有较好的适应性和精度——速度特性;在线控制由解码器进行,动作速度可很高.本文以步进电机驱动的两关节机械手的线位控制为实际背景,描述了这种新的数控方法.

     

    Abstract: A new NC architecture,which is characterized by interpolating,encoding and dynamic simulating offline first,then implementing on-line decoding and control,ispresented in the paper.High precision-speed feature and high flexibility can be provided because the main function of processing is finished off-line.And high feed-speed canbe obtained by decoding on-line only.It has been implomented on a two dimensional manipulator.The experiment hasshown its advantages.

     

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