摘要
本文针对由增强型五相混合式步进电机组成的２自由度机器人球关节，着重介绍其连续轨迹（ＣＰ）控制原理，并提出“广义加密双判别插补”控制策略及其算法；所研究的控制器采用两级微机控制系统，能实现路径规划和协调控制。由实例证实它有良好的轨迹跟踪性能。
The structure of a kind of sphere joint in robots with two degrees of freedom consisted of two five-phase PM stepping motors is described. Control tactic and its algorithm for a generalized densified interpolations is presented on the basis of continuous path control principle.Path planning and corrdinate control have been achieved.A controller with two-stage micro-computer system is developed.It is found that the system has satisfactory trajectory tracking performance.
出处
《中国电机工程学报》
EI
CSCD
北大核心
1994年第5期27-32,共6页
Proceedings of the CSEE
基金
国家自然科学基金
关键词
关节控制器
球电机
机器人
电机
Joint controller Spherical Motor Continuous path Control
