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自从20世纪初以来,机器人手臂出现在了人们的视野当中,伴随着技术的逐渐成熟,机器人手臂已覆盖了诸多工业领域。因此,研究机器人手臂控制系统是有一定意义的。对机器人手臂的结构进行了分析,阐述了其电气原理,并完成了设备的接线,进行了控制系统的软件设计。在实现机器人手臂基本功能的基础之上,提出一种算法,实现了机器人手臂位置控制的任意性,且用时最短。
Since the beginning of the 20th century, robotic arms have appeared in people’s field of vision, with the gradual maturation of technology, robotic arms have covered many industrial fields. Therefore, the study of robot arm control system is of some significance. The structure of the robot arm is analyzed, its electrical principle is described, the wiring of the equipment is completed, and the software of the control system is designed. Based on the realization of the basic functions of the robot arm, an algorithm is proposed to realize the arbitrariness of the position control of the robot arm with the shortest time.