工业机器人的xyz轴代表什么运行轨迹 工业机器人 轨迹是实时运算的吗
\u5de5\u4e1a\u673a\u5668\u4eba\u8f68\u8ff9\u89c4\u5212\u6709\u4ec0\u4e48\u4f5c\u7528\u8d77\u5230\u673a\u5e8a\u5b9a\u4f4d\u548c\u673a\u5668\u4eba\u5b9a\u4f4d\u524d\uff0c\u770b\u673a\u5668\u4eba\u662f\u5426\u7b26\u5408\u5b89\u88c5\u7684\u8282\u62cd\u548c\u8fd0\u884c\u8def\u5f84\u8f68\u8ff9\u7b26\u5408\u673a\u5668\u4eba\u7684\u8f74\u8fd0\u52a8\u8303\u56f4\u3002\u53ef\u4ee5\u9884\u5148\u6d41\u6c34\u7ebf\u7684\u89c4\u5212\u548c\u5e03\u5c40\u3002
\u673a\u5668\u4eba\u8fd0\u52a8\u63a7\u5236(Robot Motion Control)
\u5bf9\u4e8e\u9884\u5148\u6307\u5b9a\u7684\u8def\u5f84\u66f2\u7ebf\u6211\u4eec\u5148\u8981\u628a\u5b83\u79bb\u6563\u5316\uff0c\u7136\u540e\u6839\u636e\u4e00\u5b9a\u7684\u8def\u5f84\u7ea6\u675f\u548c\u5b9e\u9645\u60c5\u51b5\u7684\u7ea6\u675f\u7ed9
\u51fa\u901a\u8fc7\u8fd9\u4e9b\u70b9\u65f6\u673a\u68b0\u81c2\u7684\u59ff\u6001[3]\uff0c\u4ee3\u5165\u9006\u8fd0\u52a8\u5b66\u65b9\u7a0b\u6c42\u51fa\u901a\u8fc7\u8fd9\u4e9b\u70b9\u65f6\u7684 1 6 \u03b8 , , L \u03b8 \uff0c\u6700\u540e\u5728\u5173\u8282\u7a7a
\u95f4\u8fdb\u884c\u63d2\u8865\u7ed9\u51fa\u673a\u5668\u6307\u4ee4\u3002
\u8bbe\u5728\u8fde\u7eed\u8f68\u8ff9\u7684\u8d77\u59cb\u70b9\u548c\u7ec8\u70b9\u673a\u5668\u4eba\u7684\u59ff\u6001\u4e3a 00 0 ( ,,) \u03c8 \u03b8 ϕ \u548c 11 1 ( ,,) \u03c8 \u03b8 ϕ \uff0c\u673a\u5668\u4eba\u8fd0\u52a8\u8fde\u7eed\u5e73
\u6ed1\uff0c\u59ff\u6001\u89d2\u5ea6\u968f\u65f6\u95f4\u505a\u7ebf\u6027\u53d8\u5316\u3002\u5728\u65f6\u523b 0 ( ) i i tt t t < < \u624b\u90e8\u59ff\u6001\u89d2\u4e3a\uff1a
1 0
i i 0 t
T
\u03c8 \u03c8 \u03c8 \u03c8 − = + \uff0c
1 0
i i 0 t
T
\u03b8 \u03b8 \u03b8 \u03b8 − = + \uff0c
1 0
i i 0 t
T
ϕ ϕ ϕ ϕ − = + (15)
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1 6 \u03b8 , , L \u03b8 \u503c\u3002\u540c\u65f6\u6ce8\u610f\u8fd9\u4e9b 1 6 \u03b8 , , L \u03b8 \u503c\u53ef\u80fd\u4f1a\u6709\u591a\u89e3\uff0c\u7531\u673a\u6784\u7684\u5947\u5f02\u95ee\u9898\u4ea7\u751f\u7684\u65e0\u7a77\u4e2a\u89e3\uff0c\u6216\u65e0\u89e3
\uff08\u4e0d\u53ef\u8fbe\uff09\u3002\u5bf9\u4e8e\u591a\u89e3\u5728\u6211\u4eec\u7684\u7a0b\u5e8f\u4e2d\u4f1a\u81ea\u52a8\u9009\u62e9\u79bb\u4e0a\u4e00\u4e2a\u89e3\u6700\u8fd1\u7684\u89e3\uff0c\u4fdd\u8bc1\u673a\u68b0\u81c2\u5404\u4e2a\u65cb\u8f6c\u8f74\u8fd0
\u52a8\u8fde\u7eed\u3002
\u5728\u5173\u8282\u7a7a\u95f4\u751f\u6210\u673a\u5668\u6307\u4ee4 123456 \u03a6 =\u0394 \u0394\u0394\u0394\u0394\u0394\u0394 (, , , , , ) \u03b8 \u03b8\u03b8\u03b8\u03b8\u03b8 \u3002\u8003\u8651\u5230\u673a\u68b0\u81c2\u8fd0\u52a8\u7684\u5b9e\u9645\u60c5\u51b5\uff0c\u8981\u6c42\u8fd0\u52a8\uff0c
\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u90fd\u662f\u8fde\u7eed\u7684\uff0c\u5426\u5219\u5c31\u548c\u7269\u7406\u89c4\u5f8b\u8fdd\u80cc\u4e0d\u80fd\u7cbe\u786e\u8fd0\u52a8\u5230\u6307\u5b9a\u7684\u7a7a\u95f4\u70b9\u3002\u5982\u679c\u957f\u65f6\u95f4\u8fd9\u6837
\u64cd\u4f5c\uff0c\u673a\u68b0\u81c2\u5c31\u5bb9\u6613\u635f\u574f[4,5]\uff0c\u6240\u4ee5\u6211\u4eec\u8981\u5728\u5173\u8282\u7a7a\u95f4\u4e2d\u63d2\u503c\u3002\u91c7\u7528\u4e09\u6b21\u591a\u9879\u5f0f\u63d2\u503c\uff0c\u5176\u8868\u8fbe\u5f0f\u4f4d\uff1a
1
2 3
0 13 \u03b8( )t a at at at =+ + + (16)
\u89d2\u5ea6\u7ea6\u675f\u4f4d\uff1a 0 (0)
( )f f t
\u03b8 \u03b8
\u03b8 \u03b8
⎧⎪ = ⎨
⎪ = ⎩
\uff0c (17)
\u901f\u5ea6\u7ea6\u675f\u4f4d\uff1a 0 (0)
( )f f t
\u03b8 \u03b8
\u03b8 \u03b8
⎧⎪ = ⎨
⎪ = ⎩
& &
&& && (18)
\u89e3\u4e0a\u9762\u7684\u65b9\u7a0b\u53ef\u5f97\u591a\u9879\u5f0f\u7cfb\u6570\u4e3a\uff1a
0 0
1 0
2 00 2
3 00 3
3 21 ( )
2 1 ( )( )
f f
f ff
f f
f f
a
a
a
t tt
a
t t
\u03b8
\u03b8
\u03b8 \u03b8 \u03b8\u03b8
\u03b8 \u03b8 \u03b8\u03b8
⎧ =
⎪ = ⎪
⎪⎪
⎨ = −− −
⎪
⎪
⎪ =− − + +
⎪⎩
&
& &
& &
(19)
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1
2 3
0 13 \u03b8( )t a at at at =+ + + (20)
http://www.elecfans.com \u7535\u5b50\u53d1\u70e7\u53cb http://bbs.elecfans.com \u7535\u5b50\u6280\u672f\u8bba\u575b\u751f\u6210\u673a\u5668\u6307\u4ee4 123456 \u03a6 =\u0394 \u0394\u0394\u0394\u0394\u0394\u0394 (, , , , , ) \u03b8 \u03b8\u03b8\u03b8\u03b8\u03b8 \u3002\u5176\u8bef\u5dee\u4e3a
(3)
2
4
( ) ( ) 8! x
f R t \u03be = \u03c9 \uff0c\u5176\u4e2d f( )x \u4e3a\u7a7a\u95f4\u8def\u5f84\u8f6c\u6362
\u5230\u5173\u8282\u7a7a\u95f4\u7684\u51fd\u6570, 4 0123 \u03c9 ( ) ( )( )( )( ) t tt tttt tt = −−−− \u3002
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