摘要
宏-微机器人即一小机械手附在一大机械手的末端构成的机器人系统，这种机器人有减小末端有效惯量、扩充频带的特性．介绍了研制的宏一微机器人，并进行了连续轨迹跟踪方面的实验研究。
A small manipulator is attached to the tip of a large manipulator. This kind of system can be regarded as macro/micro manipulator system. The macro/micro system can reduce the effective inertia and provide high bandwidth. This paper presents a macro/micro manipulator system, which is designed by ourselves. Experiment researches on continuous trajectory control are given.
出处
《同济大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
1998年第6期725-728,共4页
Journal of Tongji University:Natural Science
基金
国家自然科学基金!69685004
关键词
宏-微机器人
轨迹跟踪
控制
机械手
Macro-micro manipulator system
Trajectory trackng
Control
