摘要
针对双自由度并联机器人的轨迹控制,提出了双自由度并联机器人运动学的控制方法。运用几何解析法对双自由度并联机器人的正逆运动学进行了分析,同时搭建了其实验控制系统平台,最后完成了该并联机器人的圆弧轨迹控制实验。实验结果显示该控制方法具有较高的控制精度。
The kinematic control of a 2-DOF parallel manipulators was proposed to realize its trajectory planning.Positive and inverse kinematics of the parallel robot was discussed with analytic geometry and its experimental platform was built.Tracking control of arc trajectories of this robot was achieved by experiments.The results show that the proposed method has high precision for trajectory tracking.
出处
《机械工程与自动化》
2010年第3期130-132,共3页
Mechanical Engineering & Automation
关键词
双自由度并联机器人
正逆运动学
轨迹控制
2-DOF parallel robot
positive and inverse kinematics
trajectory control
