规范了由多坐标伺服驱动的位置校正算法

Proceedings of the 9th International Scientific and Practical Conference of Students, Post-graduates Modern Techniques and Technologies, 2003. MTT 2003. Pub Date : 2003-04-07 DOI:10.1109/SPCMTT.2003.1438199

N. V. Gusev, V. Bukreev

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摘要

本文给出了机械手定位的数学计算方法。在工业机构的实际运行条件下，有必要对指定信号的速度及其值的读数进行校正，这些值是作为机构操作单元运动的计算和所需轨迹的位移的初始点和终点的坐标相等的函数，以及执行驱动器的动态能力。所提出的形成驱动运动特定轨迹的方法具有通用性，可用于设计不同控制机构的位置系统。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Specifications correction algorithm by the position of multicoordinate servo drive

In this paper, mathematical computations for the positioning of a manipulator are presented. Under real conditions of the functioning of the industrial mechanisms, it becomes necessary to correct the velocity of the specifying signals and their values reading as the function of the coordinates equality of the initial and final points of the displacement of the calculated and the required trajectories of the mechanism operation unit motion as well as dynamic capabilities of the executive drive. The suggested method for forming specific trajectories of the drive motion is universal and can be used in designing the position systems of different control mechanisms.

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Proceedings of the 9th International Scientific and Practical Conference of Students, Post-graduates Modern Techniques and Technologies, 2003. MTT 2003.

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