CPAC系统设计及其在六自由度工业机器人控制上的应用
CPAC SYSTEM DESIGN WITHAPPLICATION TO SIX-DOF ROBOTICMANIPULATORS
Abstract
摘要
Acknowledgements
Contents
List of Figures
List of Tables
Chapter 1 Introduction
1.1 Traditional Controllers History
1.1.1 IEC61131-3 standardization
1.1.2 Soft PLC technology
1.1.3 High performance motion control
1.1.4 Key terms
1.2 An Overview of 6-DOF Industrial Manipulation
1.2.1 Brief history of robotic manipulators
1.2.2 Specialized robotic manipulation today
1.3 CPAC - A Unified Control System Architecture for 6-DOF Industrial Manipulation
1.4 Organization of the Dissertation
Chapter 2 Kinematics Analysis
2.1 Mathematics and Geometry of SE(3) Rigid Body Motion
2.2 Representation of Rigid Body Velocities
2.3 6-DOF Robotic Manipulator Kinematics
2.3.1 Forward kinematics
2.3.2 The manipulator jacobian
2.3.3 Inverse kinematics via jacobian interpolation
2.4 Conclusion
Chapter 3 CPAC Structure and Configuration
3.1 CPAC Hardware Configuration and Design
3.2 CPAC Software Platform Development
3.3 Introduction to CoDeSys
3.4 Evaluation of CPAC Platform
3.4.1 Real-time experiment of CPAC
3.4.2 Motion control function block design
3.5 Conclusion
Chapter 4 Trajectory Planning, Control and Experiment in CPAC
4.1 Point to Point Motion
4.1.1 Velocity scheduling
4.1.2 Servo control
4.2 Path Motion
4.3 Experiment of CPAC, and Comparison with PC Based Approach
4.4 Conclusion
Chapter 5 Conclusions
5.1 Summary
5.2 Further Work
References
Publications
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