Analyse the technology principle of program tracking , step - in tracking , conical scan tracking and singleshot tracking , and contrast the advantage and disadvantage of them . select program tracking and conical scan tracking considering performance and cost 二、對(duì)程序跟蹤、步進(jìn)跟蹤、圓錐掃描跟蹤和單脈沖跟蹤這四種自動(dòng)跟蹤技術(shù)的原理進(jìn)行了具體的分析,并比較了它們各自的優(yōu)缺點(diǎn),從性價(jià)比的角度,選擇了程序跟蹤與圓錐掃描跟蹤相結(jié)合的方式。
Firstly , making out the walking poses and tracks of the robot , according to the study on the humans ’ gait and the sine and cosine curves are used to program its center - of - gravity track and its feet - lifting track . secondly , the kinematics model is established , and according to the constraint and the programmed tracks , the kinematics equations of each walking stages are available . then find the solutions of each equation and get the motion curves of its joints , which are also the motion curves of the mini - servomotor 首先,結(jié)合對(duì)人類(lèi)行走步態(tài)的研究,規(guī)劃?rùn)C(jī)器人行走姿態(tài)及軌跡;在此基礎(chǔ)上建立并求解運(yùn)動(dòng)學(xué)方程,獲得機(jī)器人行走時(shí)各關(guān)節(jié)的轉(zhuǎn)角曲線;最后,針對(duì)前向運(yùn)動(dòng)與側(cè)向運(yùn)動(dòng)之間的耦合,對(duì)求得的運(yùn)動(dòng)曲線進(jìn)行修正,使機(jī)器人在保證穩(wěn)定的前提下,動(dòng)作更加流暢。
One pencil is the simulative milling cutter . parameters setting , milling cutter radius compensation , graphics drawing of the work - piece machined , realizing local control , etc . are the tasks of pc , while line & arc interpolation , motion segment acceleration & deceleration control , position protection at a high precision rate and so on are the duty of dsp motion controller . in the end , the system can draw the cutter center track of the work piece ' s program track accurately 上位pc機(jī)主要完成相關(guān)參數(shù)設(shè)定、刀具半徑補(bǔ)償相關(guān)運(yùn)算及繪制被加工工件的輪廓(程編軌跡) 、實(shí)現(xiàn)本地控制等內(nèi)容;下位機(jī)dsp控制器則充分利用美國(guó)ti公司的tms320c31浮點(diǎn)dsp的高速度、高精度完成運(yùn)動(dòng)控制中的實(shí)時(shí)直線和圓弧數(shù)值插補(bǔ)、運(yùn)動(dòng)段加減速控制、運(yùn)動(dòng)軸行程限位保護(hù)等內(nèi)容。