• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>2016 IEEE International Conference on Automatica >Design and construction of an anthropomorphic robotic arm of seven degrees of freedom with kinematic and dynamic analysis based on genetic algorithms
【24h】

Design and construction of an anthropomorphic robotic arm of seven degrees of freedom with kinematic and dynamic analysis based on genetic algorithms

机译：基于遗传算法的运动学和动力学分析的七自由度拟人化机械臂设计与构建

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This article describes the design and construction of an anthropomorphic robotic arm capable of performing activities difficult or avoid collisions within your workspace, which is controlled by a computer program where the user indicates the target position and orientation to be achieved by the robot TCP. The software programmed in Matlab is developed, it calculates the angular displacements of the actuators using Genetic Algorithms (GA) considered as restricting the minimum and maximum angular displacement of each motor. The program has a graphical interface that displays a 3D robot animation, displays graphs of torque, velocity and acceleration at each joint also allows you to generate trajectories based on programmed points. The robot is connected to the computer using an USB connection and has an USB2Dynamixel device through which communication with computer controllers and servomotors Dynamixel is managed.
机译：本文介绍了拟人化机械臂的设计和构造，该拟人化机械臂能够执行艰苦的活动或避免在工作区中发生碰撞，该拟人化机械臂由计算机程序控制，用户可以在其中指示机器人TCP所要实现的目标位置和方向。开发了在Matlab中编程的软件，它使用遗传算法（GA）计算执行器的角位移，遗传算法被认为是限制每个电动机的最小和最大角位移。该程序具有一个图形界面，可显示3D机器人动画，显示每个关节处的扭矩，速度和加速度的图形，还允许您根据编程的点生成轨迹。机器人通过USB连接连接到计算机，并具有USB2Dynamixel设备，通过该设备可以管理与计算机控制器和伺服电机Dynamixel的通信。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号