高精度多轴桁架机械手运动控制技术研究.pdf

高精度多轴桁架机械手运动控制技术研究.pdf

高精度多轴桁架机械手运动控制技术研究

Abstract

Basedonthein-depthanalysisofthecurrentresearchstatusandfuturedevelopment

directionofhigh-precisionmanipulatorsathomeandabroad,thisstudyexplorestwokey

technicalpointsinthehardwareplatformandmotioncontrolofthemanipulator:trajectory

planningandvelocityplanning,aimingatthehigh-precisionmachiningproblemofmulti-axis

manipulators.Themainresearchcontentsareasfollows.

Firstly,theclassific

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