排雷机械手指端轨迹的控制

本文按挖掘阻力最小的原则建立排雷机械手挖掘抓取轨迹方程 ;为减少计算机在线计算量 ,便于计算机控制 ,由最少二乘法建立机械手两关节运动量间的拟合关系 ,并据此对机械手指端的作业轨迹进行控制。试验结果表明 ,该方法对排雷机械手实施指端挖掘轨迹控制达到了理想的效果。

CONTROL OF THE FINGERTIP TRAJECTORY FOR THE MINE-CLEARING MANIPULATOR

The excavating trajectory equation of mine clearing manipulator is built up based on the principle of minimum resistance. In order to reduce the amount of calculation and to facilitate control of the manipulator, the fixed relationship of the manipulator's two joints is set up applying the least square method.Depending up on this, the manipulator's working trajectory is controlled.Test results show that the effectiveness of the mine clearing manipulator excavating trajectory is ideal.