多关节机械腿的控制系统设计  

Design of multi-joint manipulator control system

作　　者：国鑫[1] 张志宇[2] 陈志鸿[1] 

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044 [2]兰州铁路局科研技术监督所,甘肃兰州730000

出　　处：《机电工程》2011年第7期823-826,共4页Journal of Mechanical & Electrical Engineering

摘　　要：为解决机械腿的变速运动控制问题,将机电一体化技术应用到多关节机械腿的控制当中。开展了基于多关节机械腿的运动控制分析,建立了变速方式和机械腿运动速度之间的关系,提出了一种可选择的变速控制方法,并在此基础上对系统响应时间、运行误差等进行了评价。多次试验结果表明,本系统具有良好的控制稳定性。In order to solve the speed control problems of the manipulator, the mechatronics technique was applied in the control of multi-join manipulator. After the analysis of movement control , the relationship between shift type and multi-join manipulator was established. A meth- od was presented that the optional speed control of the multi-join manipulator. The system response time and the system error were evaluated. The experimental results show that the system has a good stability.

关 键 词：LPC2368 多关节机械腿 LABVIEW 变速控制 

分 类 号：TH39[机械工程—机械制造及自动化]