摘要
介绍了一种新型5连杆式示教再现机器人,它采用不完整约束驱动方法,可以实现手把手自由示教,自动再现和轨迹控制等功能,还可以实现人机合作功能.详细地介绍了不完整约束驱动系统的工作原理、机器人的控制系统和控制方法.对平面五连杆式机器人样机进行了示教和再现控制试验,并给出了试验结果.
A new five-bar teach-robot is introduced ,which is a nonholonomic constraint driving system. In a teach model, the robot can be moved freely while pushing the end effector, and can playback and trace the teached trajectory automatically. It also can work as Cobot. The principles of nonholonomic constraint and the control syetem are introduced . Experiment is made with the prototype five bar robot, and the experimental result is given.
出处
《应用科技》
CAS
2004年第7期1-3,共3页
Applied Science and Technology
基金
国家自然科学基金项目(60275030)
哈尔滨市留学回国基金项目(2002AFLXJ004).
关键词
5连杆式机器人
示教再现
不完整约束
five bar robot
teach and playback
nonholonomic constraint
