![]() ![]() ![]() Mech. 22, 215–221 (1955)Ĭraig, J.J.: Introduction to robotics: Mechanics and control, pp. Gordeau, R.: Roboop–a robotics object oriented package in C++ (2005)ĭenavit, J.: A kinematic notation for lower-pair mechanisms based on matrices. Luo, J.J., Hu, G.Q.: Study on the Simulation of Robot Motion Based on Matlab. Wang, Z.X., Fan, W.X., Zhang, B.C., Shi, Y.Y.: Kinematical analysis and simulation of industrial robot based on Matlab. ![]() A 8(12), 1962–1970 (2007)īin, X.U.: Research on the Control System of Robot-arm Based on Motion Control Card. Info. 5, 088 (2008)įarooq, M., Wang, D.B.: Implementation of a new PC based controller for a PUMA robot. Suoxian, L.: Development of Robot Control Software Based on VC++ and PMAC. In: 2010 Third International Conference Information and Computing (ICIC), vol. 1, pp. YingHui, Z., WeiDong, H., JunJun, X.: Dynamical model of RV reducer and key influence of stiffness to the nature character. Ueura, K., Slatter, R.: Development of the harmonic drive gear for space applications. 433–444 (May 1982)īrogårdh, T.: Present and future robot control development–An industrial perspective. Makino, H., Furuya, N.: SCARA robot and its family. Litzenberger, G.: Executive summary of World Robotics (2012) The robot accuracy is tested using a laser tracker. The trajectory optimization of the end effecter is added to the robot control strategy applying the Bezier curve. Based on the double-CPU control system, the algorithm of the motion interpolation is designed. The interface of the control system is designed applying Microsoft Foundation Classes (MFC) and the hardware communication and control task is realized relying on the dynamic link library (DLL). With the Denavit-Hartenberg (D-H) modeling method of the robot, the kinematics and inverse kinematics analysis are implemented based on a Robotics Object Oriented Package in C++, ROBOOP. According to the SCARA robot’s control requirements in term of reliability and accuracy, AC servo motors are chose as the end effect and a double-CPU control system is built, which is consist of an industry control computer (IPC) as the host machine and a motion control card as the lower machine. ![]()
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