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为适应种种高难度水下作业的要求,水下机械手需要多自由度,多关节结构,本文介绍一种以反馈控制为基础建立的,控制多关节机械手运动的算法。建立算法是设计控制系统的基础。
In order to meet the requirements of all kinds of difficult underwater operations, the underwater manipulator needs multiple degrees of freedom and multi-joint structures. This paper presents an algorithm that is based on feedback control and controls the motion of multi-joint manipulators. Building algorithms is the basis for designing a control system.