工业机器人不同轨迹计算方法的比较

Proceedings of 1995 International Conference on Power Electronics and Drive Systems. PEDS 95 Pub Date : 1995-02-21 DOI:10.1109/PEDS.1995.404880

K. Kim, A. Kern

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引用次数: 0

摘要

提出了一种完全基于传感器网络的机器人快速位置控制方案。这种方法是通过将每个转发器直接连接到其相关驱动器来实现的。对机器人的不同轨迹计算方法进行了比较。加速度的上升遵循正弦平方函数、正弦函数、块函数和指数函数。机器人控制系统可在Microsoft Windows 3.0或更高版本下运行

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Comparison of different methods of trajectory calculation for an industrial robot

A fast robot position control scheme with a sensor has been developed, which is completely based on a transputer network. This approach was made by interfacing each transputer directly to its associated drive. Different methods of trajectory calculation for a robot are compared. The rise of the acceleration follows a sine-square function, sinusoidal function, a block function and exponential function. The robot control system can be operated under Microsoft Windows 3.0 or higher versions.<>

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Proceedings of 1995 International Conference on Power Electronics and Drive Systems. PEDS 95

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