| 机械手运动稳定性分析 |
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| 引用本文： | 雷勇涛,李大明.机械手运动稳定性分析[J].茂名学院学报,2006,16(1):12-16. |
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| 作者姓名： | 雷勇涛 李大明 |
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| 作者单位： | 1. 茂名学院机电工程学院,广东,茂名,525000
2. 茂名交通技工学校,广东,茂名,525000 |
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| 摘 要： | 论述机械手在实际操作过程中的各种运动在分离控制作用下原则上再现的可能性(如果对象的这种运动是可实现的话)。这样,控制系统的分离原则实际上能够再现所讨论的机械对象的各种操作运动,既便于在计算机控制中远程编程实现,也便于在计算机上进行运动学仿真。文中所引用的实例针对有限控制,它们依赖于机械手的相坐标,而不依赖外部环境的参数。这些情况对任何机械控制对象都是正确且合理的,它们的操作运动均可用文中所导出的控制拉格朗日方程来描述。
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| 关 键 词： | 机械手 分离控制 运动学分析 |
| 文章编号： | 1671-6590（2006）01-0012-05 |
| 收稿时间： | 2005-04-21 |
| 修稿时间： | 2005-05-06 |
An Analysis of Motion Stability of the Mechanical Hand |
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| LEI Yong-tao,LI Da-ming.An Analysis of Motion Stability of the Mechanical Hand[J].Journal of Maoming College,2006,16(1):12-16. |
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| Authors: | LEI Yong-tao LI Da-ming |
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| Abstract: | This paper has discussed the possibility of all kinds of motion reappearance in principle of the mechanical hand when it is controlled discretely (if the motion of the object is to realize)in reality.The separation principle of the control system can reappear in every kind of operation discussed here.In this way,it is not only easy to realize long-distance programming in computer control,but also easy for kinematics simulation in computer.An example in the paper is used for aiming at limited control.It depends on relative coordination of the mechanical hands,but not on parameters of exterior environment.These are all right and reasonable to any mechanical control object.Their operation motion can be described by the Lagrange equation derived from this paper. |
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| Keywords: | mechanical hand the control in separation kinematics analysis |
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