陈明哲, 张启先. 机器人系统的数字仿真研究[J]. 机器人, 1987, 9(1): 30-34.
引用本文: 陈明哲, 张启先. 机器人系统的数字仿真研究[J]. 机器人, 1987, 9(1): 30-34.
CHEN Mingzhe, ZHANG Qixian. Study of Digital Simulation of Robot Systems[J]. ROBOT, 1987, 9(1): 30-34.
Citation: CHEN Mingzhe, ZHANG Qixian. Study of Digital Simulation of Robot Systems[J]. ROBOT, 1987, 9(1): 30-34.

机器人系统的数字仿真研究

Study of Digital Simulation of Robot Systems

  • 摘要: 本文首先用LISP语言编制面向机器人方程的专用程序ROBEQS,从而使机器人动力学方程在计算机中自动生成.在控制信号产生方面,采用了求解速度法.手部运动规律选择除了采用通常的匀加速-匀减速规律以外,还采用了一种新的运动规律,该运动规律动态特性较好.在上述基础上,对机器人系统进行了数字仿真研究.控制方案采用部分计算力矩法.对专用仿真语言DARE-P的使用和限制作了探讨.仿真过程中考虑了作动器效应,并对仿真结果与负功现象作了说明.

     

    Abstract: In this paper the authors develop a specific program facing the robot equati-ons.This named ROBEQS program is written in LISP.Thus the robot equations areautomatically generated in computer.And the control signals are calculated by u-sing Resolved Motion Rate Method.Besides the uniform acceleration-deceleration motion motion employed as the gripper motion,a new motion regulation is used,whichpossesses better dynamic properties.Based on this,some researches on the digitalsimulation of robor systems have been made.In simulations the actuator effects aretaken into consideration.The simulation results and the negative work phenomenaare discussed.

     

/

返回文章
返回