摘要
针对现有破拆机器人手工定位时间长、定位不精确的问题,研发了一个基于激光定位的破拆机器人机械臂自主运动的控制系统软件。设计了运动学模块、闭环反馈调节模块、液压装置控制模块、手眼标定模块和运动控制模块。实际使用效果表明,该软件系统能完成控制系统设计指标,提高工作效率。
Aiming at the problems that the existing demolish robot has long manual positioning time and inaccurate positioning,thetem software of the demolish manipulator autonomous motion which based on laser-jDositioning is model,close-loop model,hydraulic device control ler mo del,hand- eye cal ibration model and motion controller model. The application resultsshow that the software system can complete the design indexes of the control system and improve the work efficiency.
作者
何锋
章小建
赵江海
He Feng Zhang Xiaojian Zhao Jianghai(Robotic Lab,Inst itute of Advanced Manufacturing Technology,Changzhou 213164,China Robotic Lab,Institute of Advanced Manufacturing Technology,Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou 213164, China)
出处
《微型机与应用》
2017年第9期103-105,共3页
Microcomputer & Its Applications
基金
国家科技支撑计划(2015BAK06B02)
江苏省产学研合作计划(BY2016040-02)
关键词
破拆机器人
运动学
自主运动
demolish robot
kinematic
autonomous motion
