| GRB-400型机械臂实验平台的研究与开发 |
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| 引用本文： | 曹青松,周继惠,贾海立.GRB-400型机械臂实验平台的研究与开发[J].组合机床与自动化加工技术,2007(7):65-66,69. |
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| 作者姓名： | 曹青松 周继惠 贾海立 |
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| 作者单位： | 华东交通大学,机电工程学院,江西,南昌,330013 |
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| 摘 要： | 文章研究是以实验室现有的GRB-400型机械臂为基础，进行机器人实验平台的开发与设计。提出了将GRB-400型机械臂改造成闭环的、可移动的机器人实验平台的总体方案，并进行了构造后的移动机器人的运动学分析；同时开发了系统软件，实现了机器人的点位运动控制和轨迹运动控制。所开发的系统软件全部通过调试，界面友好、运行正常。
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| 关 键 词： | 机器人 实验平台 轨迹运动 |
| 文章编号： | 1001-2265（2007）07-0065-02 |
| 修稿时间： | 2007-01-12 |
Research and Development of the GRB-400 mechanical arm Experimental Platform |
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| CAO Qing-song,ZHOU Ji-hui,JIA Hai-li.Research and Development of the GRB-400 mechanical arm Experimental Platform[J].Modular Machine Tool & Automatic Manufacturing Technique,2007(7):65-66,69. |
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| Authors: | CAO Qing-song ZHOU Ji-hui JIA Hai-li |
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| Affiliation: | School of Mechanical and Electrical Eng. , East China Jiaotong Univ. , Nanchang Jiangxi 330013, China |
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| Abstract: | The robot experimental platform is researched and designed based on GRB-400 mechanical arm in the laboratory. The scheme which GRB-400 mechanical arm is reconstructed into closed-loop mobile robot experimental platform is put forward. And kinematics analysis of the designed mobile robot is provided. The system software is also developed. The robot movement is carried out including spot movement and track movement control. All of the system software is debugged with the result of indicating friendship of software interface and normal running. |
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| Keywords: | robots experimental platform track movement |
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