摘要
为了满足并联机构复杂的运动控制需求,在进行运动学分析的基础之上,设计了一套并联机构运动控制系统。该系统采用PC机+GALIL运动控制卡的结构形式,并提供多种机构路径输入模式。借助于运动学反解模块,机构路径被转换为运动支链位置数据,并通过上下位机通讯模块传送给运动控制卡,从而实现系统所需要的控制任务。
To satisfy the complicated motion control requirements of the parallel mechanism, a motion control system was de- signed on the basis of the kinematic analysis. In this control system, architecture of PC ＋ GALIL motion control card was adopted and several modes for importing mechanism motion paths were provided. By using the inverse kinematics module, these motion paths were transformed into the lengths of kinematic chains which were sent to the motion control card through the communication module to realize the specified control task.
出处
《机床与液压》
北大核心
2013年第22期119-121,共3页
Machine Tool & Hydraulics
基金
上海市教育委员会重点学科建设资助项目(J51902)
上海高校选拔培养优秀青年教师科研专项基金项目(sdj10002)
上海市电机学院科研启动经费资助项目(11C402)
关键词
并联机构
运动控制卡
运动学
Parallel mechanism
Motion control card
Kinematics
