摘要
针对采用Stewart机构架构的六维动感平台 ,概述了该平台的应用背景、结构特点 ,对该平台进行了运动学建模 ,并结合虚拟现实技术对运动仿真的要求 ,详细讨论了基于PMAC(多轴运动控制卡 )的主从式控制系统的硬件平台、软件模块、系统的实时性。
The application and structure characteristics of the 6 DOF motion platform based on Stewart in the virtual reality environment are briefly introduced. The inverse kinematics for the platform is also given. The hardware and software of the control system based on PMAC are discussed in detail, which stress on the real-time performance, communication mode, and PVT interpolation.
出处
《机电工程》
CAS
2003年第4期40-43,共4页
Journal of Mechanical & Electrical Engineering
基金
国家自然科学基金资助项目 ( 60 2 0 5 0 0 6)
上海市科学技术发展基金重大项目 ( 0 2 5 115 0 0 7)
