Research on Control Problem and Controller of Parallel Robot
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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.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.
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Key words:
- robots /
- numerical control /
- parallel manipulator /
- open system
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[1] Tsai Lungwen. Robot analysis:the mechanics of serial and parallel manipulators[M]. New York:John Wiley & Sons Inc, 1999 [2] Hesselbach J, Kerle H. Structurally adapted kinematic algorithms for parallel robots up to six degrees of freedom (DOF) . World Congress on the Theory of Machines and Mechanisms ,1995.1935~1939 [3] 郇 极,尹旭峰．基于数字伺服现场总线技术的开放式数控系统[J]．中国机械工程,1999(10):1132~1134 Huan Ji, Yin Xufeng. Open CNC system based on fieldbus [J]. China Mechanical Engineering,1999(10):1132~1134(in Chinese) -
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