| 宏—微机器人系统及其连续轨迹控制研究 |
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| 引用本文： | 陈启军,王月娟.宏—微机器人系统及其连续轨迹控制研究[J].同济大学学报(自然科学版),1998,26(6):725-728. |
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| 作者姓名： | 陈启军 王月娟 |
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| 作者单位： | 同济大学电气工程系!上海，200092 |
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| 基金项目： | 国家自然科学基金!69685004 |
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| 摘 要： | 宏-微机器人即一小机械手附在一大机械手的末端构成的机器人系统，这种机器人有减小末端有效惯量、扩充频带的特性．介绍了研制的宏一微机器人，并进行了连续轨迹跟踪方面的实验研究，取得了满意的结果
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| 关 键 词： | 宏-微机器人 轨迹跟踪 控制 |
Macro-micro Manipulator System and the Research of Continuous Trajectory Control |
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| Chen Qijun, Wang Yuejuan, Jiang Ping, Yang Wei.Macro-micro Manipulator System and the Research of Continuous Trajectory Control[J].Journal of Tongji University(Natural Science),1998,26(6):725-728. |
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| Authors: | Chen Qijun Wang Yuejuan Jiang Ping Yang Wei |
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| Abstract: | A small manipulator is attached to the tip of a large manipulator. This kind of system can be regarded as macro/micro manipulator system. The macro/micro system can reduce the effective inertia and provide high bandwidth. This paper presents a macro/micro manipulator system, which is designed by ourselves. Experiment researches on continuous trajectory control are given. |
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| Keywords: | Macro-micro manipulator system Trajectory trackng Control |
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