【摘要】 针对某种自动机械臂的控制进行了研究,该系统主要由控制单元、执行机构、测量单元及显示单元4部分组成。介绍了控制系统的工作原理,建立了机械吊臂数学模型,对转载过程中机械臂的定位精度进行了计算分析,在最大工作距离5 m范围内,机械臂定位标准差小于10 mm,达到了较高的精度,为自动转载系统的工程实现奠定了理论基础。更多还原

【Abstract】 The control theory of automatic manipulator is researched,and the system is composed of control module,performing module,measurement module and display module.The measurement principle is introduced,and the mathematic model is constructed.Some numeric analysis are processed for the pose precision of the manipulator in the course of automatic loading.The standard deviation of the manipulator is below 10 mm within the maximum range of 5 m,and the results show that the system has high precision.The theoretical foundation is established for the realization of automatic loading system.更多还原