网络远程控制中机械臂的连续轨迹控制  

Continuous path control of robot arm in network-based remote control

作　　者：郑桦[1] 丛爽[1] 

机构地区：[1]中国科学技术大学自动化系,合肥230027

出　　处：《中国工程科学》2008年第10期91-95,共5页Strategic Study of CAE

基　　金：国家自然科学基金资助项目(60774098)

摘　　要：探讨了点位控制在二自由度机械臂网络远程控制中的问题,将连续轨迹控制应用到基于关节坐标空间的机器人控制系统中,分析了在远程操控环境中实现连续轨迹控制所需要满足的条件,给出了最佳合成速度的求法,并进行了实际系统的远程控制实验,在期望时间内实现了连续、平滑的运动效果,证实了在网络远程系统的控制中采用连续轨迹控制能够获得更高的精度。By discussing the drawbacks of a 2-dof robot arm remote control based on the point-to-point control, the continuous path control method is applied to the joint-coordinate-space-based serial robot remote control system. The condition needed to realize the continuous control is analyzed and the computation formula of the opti- mal synthesized velocity is given. The actual remote control experiment is implemented, and the continuous and smooth movement results are obtained within the desired time. h＇ s verified that better accuracy in remote system can be obtained by means of continuous path control.

关 键 词：远程控制 连续轨迹控制 机械臂系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]