摘要
本文主要分析在保持机器人稳态平衡状态下,在作业过程中.作用于机器人各主动关节上的力和力矩.以此作为确定机器人各主动关节动力元件与控制元件的依据.为使机器人智能化.还可依此在各主动关节上配置所需的传感器.它是保证准确可靠装配作业的重要因素.
This paper mainly analyses the forces and torques acting on the active joints of a robot in the courseof operation with static balance. We determine next the dynamic and control elements of the joints. Wemay also for robot intelligence dispose proper sensors which are quite important for accuracy and reliabili-ty.
出处
《机器人》
EI
CSCD
北大核心
1991年第3期27-32,共6页
Robot
关键词
机器人
装配作业
静力变换
robot
assembly operation
static force transform
equivalent joint torque
