用远程运动中心控制四坐标机械手

IF 0.4 Q4 ENGINEERING, MECHANICAL

Journal of Machinery Manufacture and Reliability Pub Date : 2024-03-27 DOI:10.1134/S1052618824010102

K. A. Shalyukhin

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引用次数: 0

摘要

摘要针对使用步进执行器的机械手，研究了控制系统开发中的一些问题。为了控制具有远程运动中心的机械装置，介绍了在使用单极和双极步进电机时生成控制信号的方法。还给出了使用不同运动发生器控制执行器的示例。还考虑了运动发生器的开发问题以及两个或多个执行器同时工作时的机械手控制方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Control of a Four-Coordinate Manipulator with a Remote Center of Motion

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Control of a Four-Coordinate Manipulator with a Remote Center of Motion

Some issues in the development of a control system are considered for a manipulator with stepper actuators. For control of mechanisms with a remote center of motion, the methods to generate the control signals are presented when using unipolar and bipolar stepper motors. Examples of actuator control are given using different motion generators. The problems of development of motion generators and manipulator control methods for the simultaneous work of two or more actuators are considered.

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来源期刊

Journal of Machinery Manufacture and Reliability ENGINEERING, MECHANICAL-

CiteScore

0.80

自引率

33.30%

发文量

期刊介绍： Journal of Machinery Manufacture and Reliability is devoted to advances in machine design; CAD/CAM; experimental mechanics of machines, machine life expectancy, and reliability studies; machine dynamics and kinematics; vibration, acoustics, and stress/strain; wear resistance engineering; real-time machine operation diagnostics; robotic systems; new materials and manufacturing processes, and other topics.