The constitution\, function\, principle and design of a new speed servocontrol system of placing radiation manipulatorjoint have been discussed in detail.
本文详细论述了电驱动的自主式水下机械手关节速度伺服控制系统的原理及研制。
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Secondly, based on the further research of the kinematics of five DOF manipulator, kinematics model is made with the method of D-H, joint velocity and Jacobian matrix are also carried out.
This paper introduces PC control approach of joint motion of manipulator. This approach includes driving of stepping motor, interface design of hardware circuit and software programming.