基于降维插补算法的机器人控制系统  

The Robotics Control System Based On Lowering Dimension Interpolation Algorithm

作　　者：张波[1] 

机构地区：[1]湖南大学电气与信息工程学院自动化系,湖南长沙410082

出　　处：《吉首大学学报（自然科学版）》2006年第4期60-63,共4页Journal of Jishou University(Natural Sciences Edition)

基　　金：湖南省科技计划资助项目(04FJ2003;03GKY3115);湖南省杰出青年基金资助项目(03JJY1010)

摘　　要：将五维插补的问题转换为五个二维插补的计算方法,设计五自由度机器人的5个关节坐标联动,从而简化了其运动轨迹的控制.五自由度机器人控制系统能通过手动示教方式,引导机器人运动,以确定和定义空间点的位置坐标,同时可采用系统自定义的机器人语言进行编译,使机器人单步或连续自动运行.In this paper, a method of lowering dimension is adopted to change five-dimension interpolation into five twodimension interpolation for solving the problem of five-dimension interpolation with the associated running of the five joints of the robot, so the control for the track of its movement is simplified. The designed and practiced robotics control system with five DOF can guide the robot to confirm and define the position coordinate of the point in space by running in manual teaching pattern, it can also run automatically in step way or in continued way by using the robotics language defined in this control system.

关 键 词：机器人 自由度 关节 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]