【摘要】 论述四关节机械手模型运动轨迹的控制方法，包括硬件线路设计和软件程序设计．用于实现对机械手终端运动轨迹定位精度的测试，为分析和研究机器人动态特性提供实验数据．结果表明，该模型的控制灵活、方便．介绍了机械手终端轨迹定位精度的测试方法，利用现有的实验设备，把机械手终端运动的空间曲线转化为平面曲线运动，测量出其坐标值，用于分析机械手终端轨迹的定位精度．更多还原

【Abstract】 A method including circuit design and program design is presented for a manipulator model with four joints to control its motion trajectory. A test of positioning accuracy of motion trajectory is realized on the manipulator terminal, from which experimental data are offered for analysing and studying dynamic performance of a robot. As shown by the results, the model is flexibly and conveniently controlled. The test starts from converting the spatial curve of the motion of manipulator terminal into plain curve; and then, turns to the measurment of coordinate value which are applicable to the analysis of positioning accuracy of its motion trajectory.更多还原