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通过对火车煤采样机多自由度机械臂的结构分析和运动分析,建立了机械臂的运动方程式,并根据运动反求原理建立了再现轨迹的运动控制模型。为了得到多自由度机械臂可行的最优驱动曲线,提出了一套用优化设计方法求解的方案,从而解决了运动轨迹控制智能化问题。该方法可以广泛应用于关节型机械手的智能运动控制,具有较大的推广价值。
Through the structural analysis and motion analysis of the multi-degree-freedom mechanical arm of a coal sampling machine, the motion equation of the manipulator is established and a motion control model of the trajectory is established according to the principle of inverse kinematics. In order to obtain the feasible optimal driving curve of a multi-degree-of-freedom manipulator, a set of solutions solved by the optimization design method is proposed to solve the problem of intelligent control of the trajectory. The method can be widely applied to intelligent motion control of articulated manipulator, which has great promotion value.