基于运动控制卡的2-PP_a移动并联机器人控制系统

Control System for 2-PP_a Translational Parallel Manipulator Based on Motion Control Card

设计了基于运动控制卡的2-PPa移动并联机构控制系统,采用Visual Basic6.0开发平台,将所需的动平台轨迹,通过运动学计算模块,转化成输入关节速度等参数,接着连接PCI-7340运动控制卡和UMI-7764多功能数据采集卡,调用NI公司提供的VB模块函数,控制步进电机,实现对机器人的运动控制。

A control system of a 2-PPa, translational parallel manipulator is designed based on motion control card. Based on the Visual Basic 6.0 development platform, the required path of the moving platform is translated into the motion parameters, such as the actuated joint velocities, by the kinematics module. Then, the PCI-7340 motion controller and the UMI-7764 data acquisition card are connected. The motion of parallel manipulator is actuated by the step motors which are controlled by calling VB modules provided by NI Company.