摘要
在自主研制的新型五自由度并联机器人的基础上,设计完成了以微机、无刷直流电机PCI接口测控卡为基础的控制系统硬件部分,应用ADAMS软件求解了机构的位置反解曲线,利用C++语言编写了机器人系统的控制软件,实现了并联机构连续轨迹运动。实验结果验证了本并联机构及其控制系统的可行性。
On the foundation of novel five-DOF parallel robot developed by University, the hardware of the control system based on microcomputer,BLDC and PCI interface measure ＆ control card was done. Inverse kinematics solution of the machine solved by ADAMS, the control software of the robot system was written using C ＋＋ language. Continuous track motion of the parallel robot was realized. eriment result approved the feasibility of the parallel Mechanism and the control system.
出处
《机械设计与制造》
北大核心
2008年第1期184-186,共3页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(50375067)
江苏省教育厅资助项目(03KJD510072)
关键词
并联机构
无刷电机
运动控制
位置分析
Parallel mechanism
BLDC
Motion control
Position analysis.
