陈启军, 王月娟, 蒋平, 陈辉堂. 宏-微机器人:概念、动态、控制及几点看法[J]. 机器人, 1998, 20(4): 315-320.
引用本文: 陈启军, 王月娟, 蒋平, 陈辉堂. 宏-微机器人:概念、动态、控制及几点看法[J]. 机器人, 1998, 20(4): 315-320.
CHEN Qijun, WANG Yuejuan, JIANG Ping, CH EN Huitang. MACRO/MICRO MANIPULATOR SYSTEM:CONCEPT,TRENDS,CONTROL AND RESEARCH PROJECTS[J]. ROBOT, 1998, 20(4): 315-320.
Citation: CHEN Qijun, WANG Yuejuan, JIANG Ping, CH EN Huitang. MACRO/MICRO MANIPULATOR SYSTEM:CONCEPT,TRENDS,CONTROL AND RESEARCH PROJECTS[J]. ROBOT, 1998, 20(4): 315-320.

宏-微机器人:概念、动态、控制及几点看法

MACRO/MICRO MANIPULATOR SYSTEM:CONCEPT,TRENDS,CONTROL AND RESEARCH PROJECTS

  • 摘要: 宏-微机器人即一小机械手附在一大机械手的末端构成的机器人系统,这种机器人有减小末端有效惯量、扩充频带的特性.本文介绍了这种机器人的概念、国外研究动态、控制方法,并对这一机器人的研究提出了我们的几点看法.

     

    Abstract: If asmall manipulator is attached at the tip of a large manipulat or,a system is formed,and thiskind of systemcan be regarded as a Macro/Micro manipulator system.The Macro/Micro system can reducethe effectiveinertia and provide high bandwidth.This paper presents the concept,research trend and control strategy of Macro/Micro manipulator system.Our ideas on the research of this system are given.

     

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