| 摘要 |
<p>Redundant robot of the modular type for displacing a terminal from an initial situation to a final situation. Such robot comprises a succession of stages (1i-1, 1i), each comprised of a platform and of six actuators arranged according to a closed angled architecture, a system of sensors associated to each stage, and control means for determining a robot configuration corresponding to the final situation to be reached by the terminal and for servo-controlling the actuators in order to arrange the various stages according to such configuration. Said control means comprise particularly means (26) for storing accessible spaces for each platform, means (25) for entering the final situation to be reached, means (27) for computing the robot configuration, means (28) for computing the actuator states and a servo-control interface (30) for the latter.</p> |
