Analyse the technology principle of program tracking , step - in tracking , conical scan tracking and singleshot tracking , and contrast the advantage and disadvantage of them . select program tracking and conical scan tracking considering performance and cost 二、對程序跟蹤、步進跟蹤、圓錐掃描跟蹤和單脈沖跟蹤這四種自動跟蹤技術的原理進行了具體的分析,并比較了它們各自的優缺點,從性價比的角度,選擇了程序跟蹤與圓錐掃描跟蹤相結合的方式。
Firstly , making out the walking poses and tracks of the robot , according to the study on the humans ’ gait and the sine and cosine curves are used to program its center - of - gravity track and its feet - lifting track . secondly , the kinematics model is established , and according to the constraint and the programmed tracks , the kinematics equations of each walking stages are available . then find the solutions of each equation and get the motion curves of its joints , which are also the motion curves of the mini - servomotor 首先,結合對人類行走步態的研究,規劃機器人行走姿態及軌跡;在此基礎上建立并求解運動學方程,獲得機器人行走時各關節的轉角曲線;最后,針對前向運動與側向運動之間的耦合,對求得的運動曲線進行修正,使機器人在保證穩定的前提下,動作更加流暢。
One pencil is the simulative milling cutter . parameters setting , milling cutter radius compensation , graphics drawing of the work - piece machined , realizing local control , etc . are the tasks of pc , while line & arc interpolation , motion segment acceleration & deceleration control , position protection at a high precision rate and so on are the duty of dsp motion controller . in the end , the system can draw the cutter center track of the work piece ' s program track accurately 上位pc機主要完成相關參數設定、刀具半徑補償相關運算及繪制被加工工件的輪廓(程編軌跡) 、實現本地控制等內容;下位機dsp控制器則充分利用美國ti公司的tms320c31浮點dsp的高速度、高精度完成運動控制中的實時直線和圓弧數值插補、運動段加減速控制、運動軸行程限位保護等內容。