四自由度折叠式机械手的控制系统

详细信息

THE CONTROL SYSTEM OF FOLDING MANIPULATOR WITH FOUR DEGREES OF FREEDOM

摘要: 四自由度折叠式机械手是由一台STD工业控制机管理和控制，通过视觉图象和接近觉传感器操纵机械手在移动空间中完成取送机器人任务．文中推导了机械手运动学方程，给出了运动学正逆解，详细介绍了可编程位置控制系统和操纵系统．
- 爬壁机器人 /
- 机械手 /
- 可编程位置控制系统
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.
- Wall-climbing robot /
- manipulator /
- programmable position control system

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