冗余自由度机器人研究

李鲁亚, 杨宗煦, 张启先. 冗余自由度机器人研究[J]. 机器人, 1991, 13(6): 29-33.

引用本文:

李鲁亚, 杨宗煦, 张启先. 冗余自由度机器人研究[J]. 机器人, 1991, 13(6): 29-33.

LILuya, YANG Zongxu, ZHANG Qixian. A STUDY OF REDUNDANT ROBOT[J]. ROBOT, 1991, 13(6): 29-33.

Citation:

LILuya, YANG Zongxu, ZHANG Qixian. A STUDY OF REDUNDANT ROBOT[J]. ROBOT, 1991, 13(6): 29-33.

A STUDY OF REDUNDANT ROBOT

摘要: 本文研究冗余自由度机器人．文中阐述了冗余自由度机器人研究的理论基础；介绍其机械机构设计；重点讨论计算机多机控制系统的组成与实现，并给出一种实时控制算法．

Abstract: The basic theory about redundant robot is expounded and the mechanical architecture of the robot isintroduced. The implementation of a multicomputer control system for the redundant robot is discussed indetail and a real-time control algorithm is put forward. The achievements in the research are shown.

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