仿人手臂动力学控制实验平台的设计与实现

DESIGN AND REALIZATION OF A DYNAMICS CONTROL EXPERIMENT PLATFORM FOR AN ANTHROPOMORPHIC MANIPULATOR

摘要: 研制了一种新型的可编程运动控制器．在实现多轴协调运动控制的同时，该控制器还具有控制结构可重定义及支持仿真软件MATLAB的特点．在此基础上，设计了仿人手臂动力学控制实验平台，并通过实验验证了其实现高级控制算法的能力．

Abstract: To implement coordinated multi-axis motion control,a programmable motion controller has been developed. The controller has re-definable control structure and supports the simulation software MATLAB. Based on it,a dynamics control experiment platform for a 7-DOF anthropomorphic manipulator has been constructed,and several experiments have been done to illustrate the power of the platform to implement many advanced control algorithms.