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崔旭东等:面向六关节机器人的位置域控制 253· manipulator.Int /Syst Sci,2017,48(1):190 (沈荣敏.基于LinuxCNC的Delta机器人控制系统研发[学位论 [17]Ouyang P R,Pano V,Tang J,et al.Position domain nonlinear PD 文].武汉:华中科技大学,2018) control for contour tracking of robotic manipulator.Robot Comput- [23]Sun HH.Research and Development of Industrial Robot The Integr Manuf,2018,51:14 Control System Software Based on LimxCNC [Dissertation]. [18]Ouyang P R,Pano V,Acob J.Position domain contour control for Guangzhou:South China University of Technology,2016 multi-DOF robotic system.Mechatronics,2013,23(8):1061 (孙会会.基于LinuxCNC的工业机器人控制系统软件研究与开 [19]Koutsoukos X D.Antsaklis PJ,Stiver J A,et al.Supervisory 发[学位论文].广州:华南理工大学,2016) control of hybrid systems.Proc /EEE,2000,88(7):1026 [24]Zhang R H.Design and Implementation of LimxCNC-Based [20]Ouyang P R.Hybrid Intelligent Machine Systems:Design, Multi-Axis Control System [Dissertation].Chengdu:University of Modeling and Control [Dissertation].Saskatoon:University of Electronic Science and Technology,2016 Saskatchewan,2005 (张容恒.基于LinuxCNC的多轴控制系统设计与实现[学位论 [21]Gao Z Q,Huang Y,Han J Q.An alternative paradigm for control 文].成都:电子科技大学,2016) system design//Proceedings of the 40th IEEE Conference on [25]Gao M Y,Qin X S,Bai J,et al.Development of industrial robot Decision and Control (Cat.No.01CH37228).Orlando,2001:4578 control system based on ROS and LinuxCNC.Mach Manuf,2015, [22]Shen R M.Research on the Development of the Controlling System 53(10):21 for Delta Robot Based on LimoCNC [Dissertation].Wuhan: (高美原,素现生,白品,等.基于ROS和LinuxCNC的工业机器人 Huazhong University of Science and Technology,2018 控制系统开发.机械制造,2015,53(10):21)manipulator. Int J Syst Sci, 2017, 48(1): 190 Ouyang P R, Pano V, Tang J, et al. Position domain nonlinear PD control for contour tracking of robotic manipulator. Robot Comput￾Integr Manuf, 2018, 51: 14 [17] Ouyang P R, Pano V, Acob J. Position domain contour control for multi-DOF robotic system. Mechatronics, 2013, 23(8): 1061 [18] Koutsoukos  X  D,  Antsaklis  P  J,  Stiver  J  A,  et  al.  Supervisory control of hybrid systems. Proc IEEE, 2000, 88(7): 1026 [19] Ouyang  P  R. Hybrid Intelligent Machine Systems: Design, Modeling and Control [Dissertation].  Saskatoon:  University  of Saskatchewan, 2005 [20] Gao Z Q, Huang Y, Han J Q. An alternative paradigm for control system  design//Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No. 01CH37228). Orlando, 2001: 4578 [21] Shen R M. Research on the Development of the Controlling System for Delta Robot Based on LinuxCNC [Dissertation].  Wuhan: Huazhong University of Science and Technology, 2018 [22] ( 沈荣敏. 基于LinuxCNC的Delta机器人控制系统研发[学位论 文]. 武汉: 华中科技大学, 2018) Sun  H  H. Research and Development of Industrial Robot The Control System Software Based on LinuxCNC [Dissertation]. Guangzhou: South China University of Technology, 2016 ( 孙会会. 基于LinuxCNC的工业机器人控制系统软件研究与开 发[学位论文]. 广州: 华南理工大学, 2016) [23] Zhang  R  H. Design and Implementation of LinuxCNC-Based Multi-Axis Control System [Dissertation]. Chengdu: University of Electronic Science and Technology, 2016 ( 张睿恒. 基于LinuxCNC的多轴控制系统设计与实现[学位论 文]. 成都: 电子科技大学, 2016) [24] Gao M Y, Qin X S, Bai J, et al. Development of industrial robot control system based on ROS and LinuxCNC. Mach Manuf, 2015, 53(10): 21 (高美原, 秦现生, 白晶, 等. 基于ROS和LinuxCNC的工业机器人 控制系统开发. 机械制造, 2015, 53(10):21) [25] 崔旭东等: 面向六关节机器人的位置域控制 · 253 ·
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