The curvature of aircraft parts is always large,and their shape is irregular.When robot is used to achieve aircraft drilling, it’ s hard to finish under a certain endeffector posture. A posture control algorithm for robot endeffector was presented.By using this control algorithm,the robot drilling posture could be optimized, collisions during processing could be prevented. A virtual robot drilling simulation platform was established based on DELMIA.The feasibility of the control algorithm is verified by the simulation platform.
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谭红,雷沛,李现坤,张乐,伍承旭.一种机器人末端执行器的姿态控制算法[J].机床与液压,2021,49(15):62-66. TAN Hong, LEI Pei, LI Xiankun, ZHANG Le, WU Chengxu. A Posture Control Algorithm for Robot End-effector[J]. Machine Tool & Hydraulics,2021,49(15):62-66