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介绍了一种载有水轮机转轮修磨设备的移动机器人的系统原理、路径规划方案、路径形状设计和路径跟踪控制及其实现.这种路径规划和路径跟踪控制并不只适用于水轮机转轮这种大型工件,若在路径规划过程中,考虑具体加工对象的几何外形的特点,对路径规划方法加以改造,同样适合于其它特殊外形的几何工件.
This paper introduces a system principle, path planning scheme, path shape design and path-tracking control of a mobile robot that contains turbine wheel grinding equipment and its implementation. This path planning and path-following control are not only applicable to turbine runner If large-scale workpiece, in the path planning process, considering the geometry of the specific processing object characteristics, the path planning method to be modified, the same is suitable for other special shape of the geometric workpiece.