| 软实时环境下机器人运动学逆解研究 |
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| 引用本文： | 李启源,裴海龙.软实时环境下机器人运动学逆解研究[J].自动化仪表,2012,33(4):13-15,20. |
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| 作者姓名： | 李启源 裴海龙 |
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| 作者单位： | 华南理工大学自动化科学与工程学院,广东广州,510640 |
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| 基金项目： | 国家自然科学基金资助项目(编号:60574004);国家自然科学基金资助重点项目(编号:60736024);教育部科技创新工程重大项目培育基金资助项目(编号:708069) |
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| 摘 要： | 为有效抑制串联机构的末端振动,使机器人运动系统的运行更加平滑,设计了以PC104为硬件基础、在RTLinux上进行二次软件开发的机器人控制系统。它通过PCI/ISA总线连接上位机和底层硬件接口电路,以控制伺服电机。分别研究了机器人系统的模型,以及在这一软实时系统上采用反变换法+Pieper方法求解机器人的逆运动学问题。通过比较工业机器人在伺服控制、板卡控制和软件控制三种模式下的运动性能,验证了软件方式的优越性,以及其在运动控制领域中的应用价值。
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| 关 键 词： | 机器人 软实时系统 硬件接口 机器人建模 逆运动学 |
Research on the Inverse Kinematics of Robot under Soft Real-time Environment |
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| Li Qiyuan Pei Hailong.Research on the Inverse Kinematics of Robot under Soft Real-time Environment[J].Process Automation Instrumentation,2012,33(4):13-15,20. |
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| Authors: | Li Qiyuan Pei Hailong |
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| Affiliation: | Li Qiyuan Pei Hailong |
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| Abstract: | In order to effectively inhibit the vibration at the end of serial mechanism and to make the robot motion system run more smoothly,the robot control system with PC104 as the hardware basis and secondary software development under RTLinux is designed.The host computer is connected with bottom layer hardware interface through PCI/ISA bus for controlling servo motor.The model of robot system and the solution for inverse kinematics of robot by adopting inverse transformation + Pieper method on this soft real-time system are researched respectively.Through the inter-comparison among servo control,board control and software control for industrial robot,the result verifies the superiority of software control and its applicable values in motion control field. |
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| Keywords: | Robot Soft real-time system Hardware interface Robot modeling Inverse kinematics |
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