机械手模型控制及轨迹定位精度测试

论述四关节机械手模型运动轨迹的控制方法，包括硬件线路设计和软件程序设计，用于实现对机械手终端轨迹定位精度的测试，为分析和研究机器人动态特性提供实验数据，结果表明，该模型的控制灵活，方便，介绍了机械手终端轨迹定位精度的测试方法，利用现有的实验设备，把机械手终端的空间曲线转化为平面曲线运动，测量出其坐标值，用于分析机械手终端轨迹的定位精度。

Control of a Manipulator Model and Test of Positioning Accuracy of Its Trajectory

A method including circuit design and program design is presented for a manipulator model with four joints to control its motion trajectory. A test of positioning accuracy of motion trajectory is realized on the manipulator terminal, from which experimental data are offered for analysing and studying dynamic performance of a robot. As shown by the results, the model is flexibly and conveniently controlled. The test starts from converting the spatial curve of the motion of manipulator terminal into plain curve; and then, turns to the measurment of coordinate value which are applicable to the analysis of positioning accuracy of its motion trajectory.