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基于实时位置反馈的模块化机器人轨迹跟踪控制

Keywords: 关节柔性,关节角度误差,位置反馈,运动测量系统

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Abstract:

为了提高机器人末端的位置控制精度,以PowerCube模块化机器人为研究对象,采用一种基于Optotrak3020运动测量系统的实时位置反馈控制方法,进行机器人复杂的轨迹跟踪控制研究.分析PowerCube模块机器人的系统结构,关节角度偏差测量,实时位置反馈控制方法的概念及控制结构,然后以模块机器人跟踪一平面圆弧轨迹为例进行三维仿真和实验,验证了该控制方法及实验系统的有效性和可靠性.

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