| RPPR教学机器人的设计与实现 |
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| 引用本文： | 武传宇,贺磊盈.RPPR教学机器人的设计与实现[J].实验室研究与探索,2007,26(10):34-35,108. |
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| 作者姓名： | 武传宇 贺磊盈 |
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| 作者单位： | 浙江理工大学,机械与自动控制学院,浙江,杭州,310018 |
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| 基金项目： | 浙江理工大学教学改革项目 |
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| 摘 要： | 介绍了一种圆柱坐标式四自由度RPPR教学机器人,分析了其机械结构组成及运动学求解问题,采用基于PC DSP运动控制卡的模式构建了其控制系统,控制软件主要功能包括基于轴和坐标系的控制、示教编程和三维仿真等,并具有良好人机交互的控制界面。
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| 关 键 词： | 教学机器人 设计 控制系统 |
| 文章编号： | 1006-7167（2007）10-0034-03 |
| 收稿时间： | 2006-10-10 |
| 修稿时间： | 2006-10-10 |
Design and Realization of Instructional RPPR-Robot |
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| WU Chuan-yu,HE Lei-ying.Design and Realization of Instructional RPPR-Robot[J].Laboratory Research and Exploration,2007,26(10):34-35,108. |
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| Authors: | WU Chuan-yu HE Lei-ying |
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| Institution: | College of Machinery and Automation, Zhejiang Univ. of Science and Technology, Hangzhou 310018, China |
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| Abstract: | A kind of instructional RPPR-robot with cylindrical coordinate system and four DOF(Degree of Freedom) was introduced.Its mechanical structure and inverse kinematics were analyzed.Based on the mode of PC DSP motion control card,the hardware of its control system was constructed.The robot's control software was developed with good user interface,and its main function includes axes-based control,coordinate-based control,teach-program and three dimension simulation etc. |
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| Keywords: | instructional robot design control system |
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