黑龙江大学工程学报
黑龍江大學工程學報
흑룡강대학공정학보
JOURNAL OF HEILONGJIANG HYDRAULIC ENGINEERING COLLEGE
2015年
2期
91-96
,共6页
并联机器人%伺服控制%运动控制%运动学正逆解%雅克比矩阵
併聯機器人%伺服控製%運動控製%運動學正逆解%雅剋比矩陣
병련궤기인%사복공제%운동공제%운동학정역해%아극비구진
parallel manipulator%servo system%motion controller%forward and inverse kinematics%Jacobi matrix
以3‐U PU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M atlab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。
以3‐U PU併聯機器人為研究對象,詳細分析瞭該機器人的控製方法及其工作原理。提齣瞭“IPC +TurboPMAC2”開放式伺服繫統構建模式。建立MFC操作界麵,控製卡通過 PComm32.dll接收工控機的指令數據,再利用M atlab求解齣軌跡的離散點數。以Clipper運動控製卡作為控製繫統的覈心部分,將正逆運動學算法和雅剋比矩陣嵌入到TurboPMAC2中,併由卡完成數據採樣插補運算,使運動控製不依賴于上位機,有效地提高瞭速度伺服繫統的實時性和可靠性。
이3‐U PU병련궤기인위연구대상,상세분석료해궤기인적공제방법급기공작원리。제출료“IPC +TurboPMAC2”개방식사복계통구건모식。건립MFC조작계면,공제잡통과 PComm32.dll접수공공궤적지령수거,재이용M atlab구해출궤적적리산점수。이Clipper운동공제잡작위공제계통적핵심부분,장정역운동학산법화아극비구진감입도TurboPMAC2중,병유잡완성수거채양삽보운산,사운동공제불의뢰우상위궤,유효지제고료속도사복계통적실시성화가고성。
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 .