UC知道求助！请高手帮翻译机电专业的英语文章【4】
来源：百度知道 编辑：UC知道 时间：2024/06/30 23:00:27
The kinematics and the dynamics of the three models have been generated using tools in the department (genkin and gendyn) that are supplied with the configuration of the manipulator and generate the corresponding kinematics and dynamics for that manipulator. For the trajectory generation, the cubic polynomials method, described in the trajectory generation section, was used. This method is easy to implement and does not require many computations. It generates a cubic function that describes the motion from a starting point to a goal point in a certain time. Thus, this module will provide the desired trajectory to be followed, and this trajectory will serve as the input to the control module.
The error in position and velocity is calculated using the readings of the actual position and velocity from the sensors at each joint. Our control module simulated a PID controller to minimize the error. The error depends on several factors such as the frequency of update, the frequency of
The error in position and velocity is calculated using the readings of the actual position and velocity from the sensors at each joint. Our control module simulated a PID controller to minimize the error. The error depends on several factors such as the frequency of update, the frequency of
运动学和动力学的三种模式已产生器工具部(亨金及gendyn ) 这是供应与配置中的机械臂,并产生相应的运动学和动力学,机械手. 为轨迹生成,三次多项式方法,描述的轨迹生成节,是使用. 这种方法易于落实,但并不需要许多36.9% . 它所产生的三次函数,描述了议案,从一个起点到一个目标点在某 时间. 因此,这一单元将向轨迹应遵循 这个轨迹将作为投入的控制模块. 误差的位置和速度,计算读数的实际位置和速度的传感器 在每一个关节. 我们控制模块模拟PID控制,以减少误差. 误差取决于几个因素,如频率,更新的频率,阅读来自传感器, 和预期的轨迹.
3.3 . 模拟仿真程序已实施的性能研究,每个机器人的影响变 更新频率靠制度. 它有助于寻找近似幅度所需的扭矩和/或电压, 并确定最高速度获取所需类型的传感器和模数转换器(一/四)转换. 计算基准,形容在下一节, 我们没有使用图形界面的模拟器,因为绘画套路是费时, 从而使数字误导的速度. 在这个模拟器中,用户可以选择长度的模拟,以及更新的频率. 第三个模式是用于测试和基准,因为它的动力是最困难和最费时的比较 对其他两个型号. 表1列出了一些计算的动态模块,每一个模型.