視覺伺服機(jī)械手打擊運(yùn)動目標(biāo)方法與實(shí)驗(yàn)研究

1、東南大學(xué)碩士學(xué)位論文視覺伺服機(jī)械手打擊運(yùn)動目標(biāo)方法與實(shí)驗(yàn)研究姓名：盧軍鑫申請學(xué)位級別：碩士專業(yè)：機(jī)械電子工程指導(dǎo)教師：史金飛羅翔20080301AbstractTheoreticalandExperimentalresearchonmovingobjecthittingbyvisualservomanipulatorLUJunxinSupervisedbyProfessorSHIJinfeiAndAssociateProfessorLu

2、oXiangSoutheastUniversityAbstractAtpresentintelligentrobotresearchhasbecomeahotresearchT|lispaperwiththebackgroundofJiangsuProvincenaturalsciencefundprojects，discussestheproblemofrobothitingmotionobjectandavoidingobstacl

3、eontheplatformofa3DOFplanarrobotsystemFirstlyAnalysestheAC$ervosystemusedinthesu巧ectTunessystem’sspeedloopandpositionloopParameterswithengineeringmethodSomecommonproblemsandsolutionsintheexperimentarcgivenWiththesetuning

4、improvesthedynamicperformanceofthesystemandresolvestheproblemofprevioussystemthatmanipulatorsexistingthetinyvibrationinthemovementInordertobeabletohitthemovingTableTennis，thispaperanalysesthekinematicsofexperimentalrobot

5、nispaperpresentsalloptimizedsolutionoftheinversekinematicsaccordingtosystemstructurecharacteristicOnthebasisofkinematicsknowledgedrivesthekinematicsformulaforthissystemOnthebasisofexistingsystem，addressesanewmethodofhitt

6、ingmotionobjectontheplatformThismethodincludesmotionparametersestimatingandmanipulatormotioncontr01111eresultsofthesimulationandexperimentcertifytheefficiencyofthemethodtohitmotionobjectwhichmovesalongapproximatelyastrai

7、ghtlineontheplaneThenthispaperintroducesapSeud淵liIlimumdistancetranslationtOcarryoutthecollisiondetection011theobstacleavoidanceresearchUsesAssumptionAmendmentmethodonthepathplanningandpresentsasimplebuteffectivemethodfo