摘要
文章研究一种二平动自由度高速轻型并联机械手的位置控制技术。首先建立一种含有几何误差的位置逆解模型 ,在此基础上 ,以NI运动控制卡 +PC构筑了系统硬件平台 ,并采用图形化的编程环境Labview开发了控制系统软件。最后 ,通过实验获得了机械手末端执行器的位置误差跟随曲线 ,结果证明控制效果良好。
The motion control technology of a 2-DOF high-speed, light-weight, parallel manipulator is presented in this paper. At first, inverse kinematics with geometric errors is formulated. On this basis, control hardware is constructed with NI motion controller & PC and control software is programmed by use of Labview consequently. Position following error is obtained via experiment at last and the experiment results show that good positioning accuracy of the end-effector can be achieved using this method.
出处
《组合机床与自动化加工技术》
北大核心
2004年第4期7-8,10,共3页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家 8 63计划资助项目 (2 0 0 1AA42 1 2 2 0 )
