摘要
以3-UPU并联机器人为研究对象,详细分析了该机器人的控制方法及其工作原理。提出了"IPC+TurboPMAC2"开放式伺服系统构建模式。建立MFC操作界面,控制卡通过PComm32.dll接收工控机的指令数据,再利用Matlab求解出轨迹的离散点数。以Clipper运动控制卡作为控制系统的核心部分,将正逆运动学算法和雅克比矩阵嵌入到TurboPMAC2中,并由卡完成数据采样插补运算,使运动控制不依赖于上位机,有效地提高了速度伺服系统的实时性和可靠性。
A 3‐UPU parallel manipulator is taken as the research object , which analyzed the control method of the manipulator and its operating principle in detail .The constructing mode of the open servo system of “IPC＋ TurboPMAC2” has been come up .The MFC interface is established .The controller receives instruction datas from PComm32.dll .Then it uses Matlab to solve the descrete point trajectory . Based on the Clipper motion control card as the core part of the control system ,the forward and inverse kinematics and Jacobi matrix algorithm embedded in TurboPMAC2 ,and the card is used to complete the data sampling interpolation algorithm .The motion control does not depend on the personal computer , effectively improve the reliability and the real time of speed .
出处
《黑龙江大学工程学报》
2015年第2期91-96,共6页
Journal of Engineering of Heilongjiang University
基金
山西双赢智能科技有限公司横向课题(20110902)
关键词
并联机器人
伺服控制
运动控制
运动学正逆解
雅克比矩阵
parallel manipulator
servo system
motion controller
forward and inverse kinematics
Jacobi matrix
