车载机械手系统的重心控制

就移动机构上安装机械手的机械手/车辆系统提出了一种用分解运动的方法,通过控制系统的重心,防止机械手/车辆系统倾倒的控制方案。给出了系统的控制原理框图,并通过一个自由度车辆上安装两个自由度机械手系统的实验对方案的可行性进行了验证。

This paper proposes a control scheme method about manipulator/vehicle system of installing manipulator on mobile mechanism by using the method of resolve motion. The control scheme can prevent manipulator/vehicle systems from falling to the ground through controlling gravity's center of the system. The paper presents the control principal diagram and the experiment of one-freedom vehicle system installing two-freedom manipulator. The experiment verifies the feasibility of the scheme.