Hailei Wang, Hui Qi, Xinbin Zuo, Shi-you Mu, Jianxiang Li
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引用次数: 0
摘要
本文以高压带电工作机械臂的运动为研究对象，分析了高压带电工作机械臂控制系统的组成。通过对其数学建模的研究，给出了机器人手臂运动控制算法，并给出了机器人手臂的运动控制流程。为了验证该模型，本文使用OpenGL+Microsoft Visual Studio 2005对算法进行了仿真。本文提出的算法直观、简单、实用，适用于大多数液压臂。
Design of high voltage insulated manipulator control system
With the movement of a high voltage live working robotic arm as the object of the research, this paper analyzes the composition of the control system of high voltage live working robotic arm. Through the study of the mathematical modeling of it, we robot arm motion control algorithm, and present the Motion control flow of robot arm. In order to validated the mode, this paper used OpenGL+Microsoft Visual Studio 2005 to simulate the algorithm. The algorithm proposed in this paper is intuitive, simple and practical, and Suitable for most of the hydraulic arm.
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