| 一种六杆并联机器人的控制问题和控制器研究 |
| |
| 引用本文： | 尹旭峰,郇极.一种六杆并联机器人的控制问题和控制器研究[J].北京航空航天大学学报,2003,29(6):556-560. |
| |
| 作者姓名： | 尹旭峰 郇极 |
| |
| 作者单位： | 北京航空航天大学 机械工程及自动化学院 |
| |
| 摘 要： | 针对一种六杆并联结构工业机器人,研究了其运动学逆解和正解算法,以及它们在开放式数控系统中的具体实现技术,解决了基于逆解算法的实时坐标变换问题和基于正解算法的系统初始化问题,并给出了相应模块与数控系统内核的接口,最后在一种开放式数控系统平台上实际开发成功针对这种并联结构机器人的控制系统,从而得出结论,采用正确的实现技术,并联结构机器人的实时控制问题可以在开放式数控系统中很好地得到解决.
|
| 关 键 词： | 机器人 数值控制 并联机构 开放系统 |
| 文章编号： | 1001-5965(2003)06-0556-05 |
| 收稿时间： | 2002-04-15 |
| 修稿时间： | 2002年4月15日 |
Research on Control Problem and Controller of Parallel Robot |
| |
| Yin Xufeng\ Huan Ji.Research on Control Problem and Controller of Parallel Robot[J].Journal of Beijing University of Aeronautics and Astronautics,2003,29(6):556-560. |
| |
| Authors: | Yin Xufeng\ Huan Ji |
| |
| Institution: | School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics |
| |
| Abstract: | The inverse kinematics problem and direct kinematics problem of a six branches parallel robot were studied. Their realizing technologies based on open CNC system, especially the real time coordinate transformation based on the IKP algorithm and the system initialization based on the DKP algorithm were settled. The interfaces between these modules and NC kernel were given. Finally, a controller based on an open CNC system has been successfully developed to control the parallel robot. It can be concluded that using open CNC system and proper interface technologies, real time control to a parallel robot can be realized. |
| |
| Keywords: | robots numerical control parallel manipulator open system |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《北京航空航天大学学报》浏览原始摘要信息 |
| 点击此处可从《北京航空航天大学学报》下载免费的PDF全文 |
