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本文提出了机器人步进型球关节点位时间最优控制和改进的加密双判别函数插补原理,并分别应用于PTP与CP控制中,通过原理探索、判据定义和编程运行,在实际试验中表明具有良好控制效果。
This paper presents the robot stepper ball joint point time optimal control and improved encryption two discriminant function interpolation principle, and respectively used in PTP and CP control, through the principle of exploration, the definition of criteria and programming operation, in the actual test In that has a good control effect.