论文部分内容阅读
为了适应机器人教学的需要,我们研制了 JTR-1型教学机器人.其特点是:(1)五关节小型机械手.(2)关节控制全部采用闭环调相式伺服控制.(3)IBM-PC 实行运动规划和对关节的指令控制.(4)透明度高.有较好的性能价格比.本文还叙述了在 JTR—1型教学机器人上实行的视觉闭环伺服控制.它的批量生产将为高等院校机器人的教学和科研提供有力工具.
In order to meet the needs of robot teaching, we developed the JTR-1 teaching robot, which is characterized by: (1) small joints of five joints (2) all closed-loop phased servo control of joint control (3) IBM-PC Motion planning and command control of the joint. (4) High transparency and good cost performance. This paper also describes the visual closed-loop servo control implemented on the JTR-1 teaching robot. School robot teaching and research provide a powerful tool.