| 仿人手臂动力学控制实验平台的设计与实现 |
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| 引用本文： | 董春,徐文立,杨耕,孙立宁,李瑞峰.仿人手臂动力学控制实验平台的设计与实现[J].机器人,2004,26(1):22-26,31. |
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| 作者姓名： | 董春 徐文立 杨耕 孙立宁 李瑞峰 |
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| 作者单位： | 1. 清华大学自动化系,北京,100084
2. 哈尔滨工业大学机器人研究所,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家863计划资助项目(863-512-02-00-95);中国博士后科学基金资助项目(2003033123). |
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| 摘 要： | 研制了一种新型的可编程运动控制器.在实现多轴协调运动控制的同时,该控制器还具有控制结构可重定义及支持仿真软件MATLAB的特点.在此基础上,设计了仿人手臂动力学控制实验平台,并通过实验验证了其实现高级控制算法的能力.
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| 关 键 词： | 运动控制器 MATLAB 仿人手臂 实验平台 |
| 文章编号： | 1002-0446(2004)01-0022-05 |
DESIGN AND REALIZATION OF A DYNAMICS CONTROL EXPERIMENT PLATFORM FOR AN ANTHROPOMORPHIC MANIPULATOR |
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| DONG Chun ,XU Wen-li ,YANG Geng ,SUN Li-ning ,LI Ri-feng.DESIGN AND REALIZATION OF A DYNAMICS CONTROL EXPERIMENT PLATFORM FOR AN ANTHROPOMORPHIC MANIPULATOR[J].Robot,2004,26(1):22-26,31. |
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| Authors: | DONG Chun XU Wen-li YANG Geng SUN Li-ning LI Ri-feng |
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| Affiliation: | DONG Chun 1,XU Wen-li 1,YANG Geng 1,SUN Li-ning 2,LI Ri-feng 2 |
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| Abstract: | To implement coordinated multi-axis motion control,a programmable motion controller has been developed. The controller has re-definable control structure and supports the simulation software MATLAB. Based on it,a dynamics control experiment platform for a 7-DOF anthropomorphic manipulator has been constructed,and several experiments have been done to illustrate the power of the platform to implement many advanced control algorithms. |
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| Keywords: | motion controller MATLAB anthropomorphic manipulator experiment platform |
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