【摘要】 提出一种实用的机械臂位置逆解在线计算方法,对冗余及非冗余串联型机械臂问题均有效。它的建立过程规范且简单,很容易用于机械臂的嵌入式控制器实现。以此为基础,我们又开发了基于ARM7处理器的机械臂模型HN-8以检验这个方法。文中列出部分实验数据及对比结果,对基于这种方法进行机械臂控制实验具有指导意义。更多还原

【Abstract】 This paper formulates generalized method for solving manipulator inverse displacement problem,which is applicable to hyper-redundant and non-redundant series manipulator.This method is normalized and suitable for developing manipulator′s embedded control system.We have developed an ARM7 MCU embedded system to control a model manipulator,named HN-8,for testing this method.The experimental findings and results are reported in this paper,which are useful for manipulator control experiments based on this method.更多还原