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自主研抛机器人技术

作者：王文忠

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内容简介:

本书主要介绍自主研抛机器人技术的相关理论基础与前沿技术，是作者近年来在国家“863”等项目中所取得的学术研究成果和技术实践的总结。书中基于实现用小型装备对大型自由曲面进行精整加工的目标，利用移动操作机器人具有较好的操作灵活性和工作空间大的特点，提出了一种研磨大型自由曲面自主作业机器人的机械结构，并进行了关键技术的研究。重点针对研磨大型自由曲面自主作业机器人的曲面重构与定位方法、5-TTRRT机器人运动学动力学建模、运动规划与运动控制、主被动结合的柔顺控制方式等进行了深入论述。力求设计理念符合国内外先进技术的发展要求，设计内容与国内外新研究成果同步。

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