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題名 | ITRI-A型機器人控制模擬軟體發展=The Development of Software for Control Simulation Subjected to the ITRI-A Robot |
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作者 | 賴炎生; | 書刊名 | 技術學刊 |
卷期 | 11:2 1996.06[民85.06] |
頁次 | 頁273-282 |
分類號 | 448.94 |
關鍵詞 | 軌跡規劃; 運動學; 反運動學; 動力學; 計算轉矩控制法則; Trajectory planning; Kinematics; Inverse kinematics; Dynamics; Computed-torque control law; |
語文 | 中文(Chinese) |
中文摘要 | 本文首先探討國產閉迴路控制ITRI-A型機器人的機器人模式,包含建立連桿座標與參數、推導運動與返運動方程、分析其動力模式及計算轉矩控制法則。其次,發展適用於PC相容電腦上執行的模擬輔助教學軟體,其特色為不用進入任何中文系統與繪圖軟體即可達到中文列單驅動及交談方式的效果。本文對以ITRIA型機器人為教具的教學軟體發展,提供完整的模式分析與軟體規劃及發展參考。 |
英文摘要 | This paper investigates the machine modeling, including creation of coordinate system and link parameters, deduction of kinematic and inverse kinematic equations, analysis of the dynamic model and computed-torque control law, subject to the domestic ITRI-A type robot which is with a closedloop control system. Then, the planning and development of the simulation software which can be executed by the personal computer or its compatible machines, were presented. This software was highlighted by its program independence, i.e. it achieves menu-driven and interactive way in Chinese without any graphic and Chinese system support. So, this paper addressed a complete analysis of the teaching software programming of the ITRI - A type Robot. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。