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本文首先用 LISP 语言编制面向机器人方程的专用程序 ROBEQS,从而使机器人动力学方程在计算机中自动生成。在控制信号产生方面,采用了求解速度法。手部运动规律选择除了采用通常的匀加速-匀减速规律以外,还采用了一种新的运动规律,该运动规律动态特性较好。在上述基础上,对机器人系统进行了数字仿真研究。控制方案采用部分计算力矩法。对专用仿真语言DARE-P的使用和限制作了探讨。仿真过程中考虑了作动器效应,并对仿真结果与负功现象作了说明。
In this paper, the ROBEQS program for robot equations is first programmed in LISP language so that the robot dynamics equations are automatically generated in the computer. In the control signal generation, using the solution speed method. In addition to the usual law of uniform acceleration-uniform deceleration, a new law of motion is adopted in the selection of hand movement rule, which has better dynamic characteristics. Based on the above, the robot system is studied by digital simulation. Control scheme using part of the calculation method. The use and limitation of DARE-P, a dedicated simulation language, are discussed. In the process of simulation, the actuator effect was considered, and the simulation results and negative workings were described.