YANG Hong, GAO Bo, XU Dianguo, WANG Yan. THE CONTROL SYSTEM OF FOLDING MANIPULATOR WITH FOUR DEGREES OF FREEDOM[J]. ROBOT, 1995, 17(2): 108-112.
Citation: YANG Hong, GAO Bo, XU Dianguo, WANG Yan. THE CONTROL SYSTEM OF FOLDING MANIPULATOR WITH FOUR DEGREES OF FREEDOM[J]. ROBOT, 1995, 17(2): 108-112.

THE CONTROL SYSTEM OF FOLDING MANIPULATOR WITH FOUR DEGREES OF FREEDOM

  • 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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