| 基于AVR平台的六自由度仿人机械手臂控制算法研究 |
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| 引用本文： | 沈长青,孔凡让,刘永斌,刘方.基于AVR平台的六自由度仿人机械手臂控制算法研究[J].机电一体化,2010(5):40-43. |
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| 作者姓名： | 沈长青 孔凡让 刘永斌 刘方 |
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| 作者单位： | 中国科学技术大学精密机械与精密仪器系,合肥,230027 |
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| 摘 要： | 传统机械手臂各关节常用电机来驱动，其驱动系统较为复杂，设计难度较大。提出以AVR为控制平台，以舵机作为机械臂各关节驱动，并着重介绍了基于舵机特有的工作方式而提出的一种可以对该机械臂各关节运动速度、方向和运动量进行控制的算法。该算法同时还具备可扩展性等优点，即可以对由舵机驱动的更多自由度的机械手臂进行实时控制。
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| 关 键 词： | AVR平台 仿人机械手臂 可控速算法 |
Research of 6-DOF Humanoid Robotic Arm Control Algorithm Based on AVR |
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| Abstract: | Traditional robotic arm was driven by motors, whose systematic design of drive is tough. In this essay, it refered to take AVR as the control platform and use servo as the drive of each sector,besides,it proposed a control algorithm that can control the speed, direction and amount as a focus based on its unique workstyle. And then this control method had advantages such as expansibility and can control the institutions with more degrees of freedom. |
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| Keywords: | AVR platform humanoid robotic arm speed-controllable algorithm |
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