【摘要】 针对一台6自由度位置反馈自行更换工具液压驱动水下作业机械手系统,介绍了系统组成及原理,重点研究了其控制技术,采用PC104,基于VxWorks操作系统研制了一套嵌入式控制系统,进行试验并取得了良好的效果。更多还原

【Abstract】 In this paper a 6 DOF positionfeedback underwater operating manipulator is introduced,which is a hydraulic robotic arm with a function of changing tools automatically.After studying each part of the system,especially the controller,a new embedded controller was built to improve deficiencies of the old one.The new one based on PC104 and VxWorks RTOS has showed better efficiency in the test.更多还原