三自由度matlab代码-Delta_Mechanism:三角洲机制
三自由度matlab代码三角洲机制
在这个研究项目中，我们的目标是构建一个带有
Delta
平台的移动机械手，它在
XYZ
方向上有
3
个自由度。
该演示机制。
该存储库包括
Delta
平台的运动学和控制实现。
详细的理论分析包含在
.
Delta
MATLAB
代码
有一个自包含的
Delta
平台的
MATLAB
库。
该代码用于计算运动学并绘制给定机构参数的工作空间。
Delta
C
代码
是
MATLAB
库的
C
版本。
C
库用于微控制器的实时控制。
编码器
有
C
函数来读取项目中应用的编码器。
系统中使用了两种旋转编码器。
三个12位编码器用于测量云台角度，六个23位编码器用于测量扭簧角度。
系统演示
由于我们还没有电机控制器，所以用三个直流有刷电机和四个NU32微控制器对该平台的整个控制系统进行了演示，以对该系统进行仿真。
文件下载
资源详情
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