引用本文: 李鼎培, J. L. Aravena. 采用简单几何模型对机械手装置的控制[J]. 机器人, 1987, 9(5): 11-15.
LI Dingpei, J. L. Aravena. Control of a Robot Manipulator Using Simple Geometric Modeling[J]. ROBOT, 1987, 9(5): 11-15.
 Citation: LI Dingpei, J. L. Aravena. Control of a Robot Manipulator Using Simple Geometric Modeling[J]. ROBOT, 1987, 9(5): 11-15.

## Control of a Robot Manipulator Using Simple Geometric Modeling

• 摘要: 为了控制机械手装置，我们必须对其终端执行机构的笛卡尔轨迹进行设计．解决此问题所普遍采用的方法是给装置的每个杆件赋以一个坐标系，然后解齐次方程．这种惯用方法使用复杂，而且进行分析时缺乏直观感．本文的目的是研究和验证一种基于直观几何分析的方法，这种方法无需对齐次方程有任何了解．文中介绍了所作的分析和详细步骤，并研制了软件．这种思想也能扩展到许多其他机械手装置，十分适用于教学实验室．

Abstract: For control of the robot manipulator we must program the cartesian trajectory ofthe end effector.The most common approach for solving this problem is to assign acoordinate frame for each link,then solve the homogeneous transformation.This traditional method is complicated and is deficient in visualization for analysis.The purpose of this paper is to investigate and verify a method based on an visual geometric,analysis,which does not require any knowledge of homogeneous transformation.The analysis and a detailed scheme are introduced.A software is developed.Thisidea can be extended to many robot mainpulators,and is well adapted for educational laboratories.

/

• 分享
• 用微信扫码二维码

分享至好友和朋友圈