杨宏, 高波, 徐殿国, 王炎. 四自由度折叠式机械手的控制系统[J]. 机器人, 1995, 17(2): 108-112..
YANG Hong, GAO Bo, XU Dianguo, WANG Yan. THE CONTROL SYSTEM OF FOLDING MANIPULATOR WITH FOUR DEGREES OF FREEDOM. ROBOT, 1995, 17(2): 108-112..
Abstract：The folding manipulator with four degrees of freedom which is supervised and controlled by a STD industry control computer is used to put the wall-climbing robot onto working place or fetch it back in mobile coordinate space.according to the information of the visual sensor and approach switches.In this pa-per,the kinematic equations is derived,the solution of the forward and inverse kinematic equations is given,and the programmable posltion control system and operation system are discussed in details.
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