【摘要】 用HUST-FS6型六维腕力传感器,在五自由度小型通用工业机器人上进行了平面路径搜索的实验研究。实验结果表明,在没有任何外界环境描述的情况下,机器人可以从任意给定位置搜索到任意终止位置,并且具有记忆功能,可将所走路径显示出来。更多还原

【Abstract】 An experiment about planar path search by using a 6-D wrist force sensor(HUST-FS6) and a 5-DOF manipulator (MOVEMASTER-EX) is presented. The experiment result shows that the robot can carry out searches from any start position to any given end position without any knowledge of outer environment. It has also the function of memorization by displaying the feasible path on the CRT.更多还原