摘要
鉴于机器臂连接机构的柔性特点,其末端执行装置的准确定位异常困难。介绍了一种基于四元数算法的互补滤波器,通过参数优化和偏差补偿,可实现末端执行器的精确定位。初步测试结果表明,该滤波器动态响应良好。
Joint angle determination for robots with flexible links can be difficult.This paper describes the design,implementation,and preliminary testing of a tracking system using a“complementary”filter based on quaternion algorithm.This filter is capable of tracking a rigid body through all orientations via parameter optimization and error compensation.Results of qualitative tests show that the filter has an acute dynamic response.
出处
《工业控制计算机》
2021年第1期64-66,共3页
Industrial Control Computer
关键词
机械臂
四元数
滤波器
定位
mechanical arm
quaternion
filter
location
