摘要
机器人柔性臂控制问题是目前机器人研究中的一个重点和难点．本文运用基于关节的求逆技术，得到了有关大质量负载的空间机器人柔性臂动力学轨迹跟踪非线性控制问题的有效方法，并以一平面二杆空间机器人柔性臂为例进行了控制的仿真研究．仿真研究的结果表明，该方法具有较高的可靠性和良好的控制效果．
In the paper a new micromotion serial parallel mechanism is proposed. It has 6 degrees of freedom and features a 3 RPS in parallel actuated module mounted on the moving plate of another 3 RRR in parallel actuated platform. The kinematics is investigated with the method of vector analysis,and some advantages are also discussed. Based on these characteristics, the prototype of the micromotion manipulator is presented.
出处
《机器人》
EI
CSCD
北大核心
1997年第4期256-258,281,共4页
Robot
