摘要
为了实现对6-DOF并联机器人实时在线控制,并能取得良好的控制效果,对其运动控制算法的结构进行了深入剖析与研究,尤其对上平台中心的运动速度和角速度的计算及液压缸各杆的伸长速度计算矩阵进行了细致的研究,提出了并行算法及CPU的优化分配策略,大大提高了并联机器人的实时控制质量。
In order to realize to the 6-DOF parallel robot real-time on-line control, and to obtain the good control effect, the analysis and the research to its movement control algorithm structure are researched. Especially has conducted the careful research to the first platform center velocity of movement and the angular speed computation and the hydraulic cylinder various poles elongated velocity calculation matrix, the parallel algorithm and the CPU optimized assignment strategy are proposed, the parallel robot real-time control quality is improved greatly.
出处
《计算机工程与设计》
CSCD
北大核心
2007年第13期3182-3183,3282,共3页
Computer Engineering and Design
基金
中国科学院机器人开放实验室基金项目(RL2002-07)
关键词
并联机器人
并行计算
计算机控制
控制算法
机器人技术
parallel robot
parallel computation, computer control
control arithmetic
robot technology
