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介绍了应用于托卡马克腔第一壁维护的内窥机器人的主要结构,分析了大臂在展开时会在末端产生的变形和其对扫描产生的影响,并提出了一种自适应的轨迹修正方法。该方法首先对小臂建模,后从模型中分别提取出位置、姿态和位姿矩阵并与理想情况下的相应矩阵相减得到偏差矩阵,求取自适应轨迹使偏差最小。最后对比了采用不同矩阵优化后的效果。
The main structure of endoscopic robots used in the maintenance of the first wall of tokamak cavity is introduced. The deformation of the end of the boom when it is deployed and its effect on scanning are analyzed. An adaptive trajectory Fix the method. Firstly, the model of the forearm is modeled, then the position, attitude and pose matrixes are extracted respectively from the model and subtracted from the corresponding matrices in the ideal case to obtain the deviation matrix. The adaptive trajectory is taken to minimize the deviation. Finally, the effect of different matrix optimization is compared.