| 六自由度检修机械臂监控软件设计与实现 |
| |
| 引用本文： | 陆军,刘其端,朱齐丹. 六自由度检修机械臂监控软件设计与实现[J]. 自动化技术与应用, 2008, 27(4): 53-59 |
| |
| 作者姓名： | 陆军 刘其端 朱齐丹 |
| |
| 作者单位： | 哈尔滨工程大学自动化学院,哈尔滨,黑龙江,150001;哈尔滨工程大学自动化学院,哈尔滨,黑龙江,150001;哈尔滨工程大学自动化学院,哈尔滨,黑龙江,150001 |
| |
| 摘 要： | 针对蒸汽发生器检修机械臂控制系统，设计了监控软件的总体结构。完成了机械臂三维模型、操作界面、CAN通讯、轨迹规划算法和避碰检测算法的设计与实现。实际应用验证了监控软件的实用性及算法的有效性，能对机械臂进行远程控制，完成检修任务。
|
| 关 键 词： | 六自由度机械臂 蒸汽发生器 轨迹规划 避碰检测 |
A Monitoring System Software of the Six-DOF Robot for Steam Generator Repairing |
| |
| LU Jun,LIU Qi-duan,ZHU Qi-dan. A Monitoring System Software of the Six-DOF Robot for Steam Generator Repairing[J]. Techniques of Automation and Applications, 2008, 27(4): 53-59 |
| |
| Authors: | LU Jun LIU Qi-duan ZHU Qi-dan |
| |
| Affiliation: | ( College of Automation, Harbin Engineering University, Harbin 15001 China ) |
| |
| Abstract: | This paper presents the software of a monitoring system of a six-DOF robot arm used for steam generator repairing. The software includes the operating interface, CAN communication, the trajectory planning algorithm and the collision prevention detecting algorithm. The software has already been proved in practice. |
| |
| Keywords: | six-DOF robot arm steam generator trajectory planning collision prevention detecting |
| 本文献已被 维普 万方数据 等数据库收录！ |
|
