摘要
对六自由度并联转台的结构进行了分析,给出了转台的运动指标参数,并采用分散控制方式对整个系统的控制系统进行了设计。六自由度并联转台的控制系统主要包括下位机硬件系统和上位机软件系统,实现了对转台电液伺服系统的控制,使转台可以实现各种运动,且精度高,实时性好。
The structure of the 6-DOF parallel platform is analyzed and the movement parameters of the platform is given, the decentralized control of the whole control system is designed. The 6-DOF parallel platform control system consists mainly of hardware and software system. The control of electro-hydraulic servo system is realized, and all kinds of movement with high precision and real- time control can be achieved.
出处
《测控技术》
CSCD
2008年第2期48-50,共3页
Measurement & Control Technology
关键词
六自由度转台
反解
液压
计算机控制
6-DOF parallel platform
reversed k
nematics
hydraulic
computer control
