基于解耦型球关节的工业机器人控制系统研究初探  

Tentative research on the control system of a kind of industrial robot based on the decoupling spheric joint

作　　者：杨振中[1] 周骥平[1] 朱兴龙[1] 

机构地区：[1]扬州大学机械工程学院,扬州225009

出　　处：《制造业自动化》2006年第7期31-35,共5页Manufacturing Automation

基　　金：江苏省自然科学基金项目(BK2005051)

摘　　要：解耦型球关节能实现运动解耦,基于该关节所构造的工业机器人将具有灵巧及易于控制的特点。通过对现有国内外各种机器人控制系统的分析,探讨了解耦型球关节工业机器人控制系统的初步方案。The decoupling spheric joint can realize movement decoupling.lndustrial robot based on this joint will have lots of unique characteristics such as smart and easy to control. Having analysed various kinds of robot control systems existing in many domestic and foreign counntries,we discussed the tentative solution to the control system of the industrial robot based on the decoupling spheric joint.

关 键 词：解耦型球关节 工业机器人 控制系统 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]