摘要
本文着重研究了如何提高工业机器人实时轨迹跟踪精度的问题,建立了一种新的精确轨迹跟踪算法。并以PUMA-560机器人为例,对该算法进行了计算机仿真验证。
In this paper,authors have made a research specially on how On-Line tracking accuracy of the trajectories of industrial Robots can beraised, A new accurate tracking algorithm of trajectories has beenfounded, authors have taken PUMA-560 Robot as an example and havemade a computer simulation research. The result has proved that thealgorithm founded in the paper is available and correct.
出处
《湘潭大学自然科学学报》
CAS
CSCD
1989年第2期74-81,共8页
Natural Science Journal of Xiangtan University
关键词
机器人
轨迹跟踪
计算机
仿真
robof
position and posture
addifional joint
accurate tracking algorithm of trajectories
fracking accuracy
