【摘要】 研究制作了两关节机器人操作臂 ,利用PD反馈控制法 ,对其进行了位置和轨迹跟踪实验 .在测试数据和图形处理的基础上 ,利用梯度法从理论上分析确定其数学模型各参数的估计值 ,在计算机上完成仿真研究 ,试验结果验证了该模型能实现操作臂的位置、轨迹和速度等的精确控制更多还原

【Abstract】 Two-joint robot operating arm is made.The test on position and track of arm is carried out with PD feedback control method.Based on the analysis of test data and image manipulation,the estimation value of every parameter of mathematics model is achieved with grades method.The simulation study is also carried out with computer.The test results verify that the position,the track and the velocity of the operating arm of the robot can be controlled accurately using this mathematics model.更多还原