串并联机器人控制HIFU的插补算法的研究  

A Study on the Interpolation Algorithm for the Serial-Parallel Robot-Controlled HIFU

作　　者：喻道远[1] 罗飞[1] 范良志[1] 

机构地区：[1]华中科技大学机械学院,湖北武汉430074

出　　处：《中国医疗器械杂志》2006年第4期241-244,共4页Chinese Journal of Medical Instrumentation

基　　金：863机器人资助项目;项目编号:2002AA420100-3

摘　　要：针对高强度聚焦超声串并联机器人的硬件结构特点,插补算法采取了粗插补和精插补相结合的两级模式。为满足电机轴动态性能限制条件,同时采用了插补前加减速和插补后加减速的方法,并给出了插补算法的具体实现步骤。According to the hardware characters of the high intensive focused ultrasound （HIFU） serial-parallel robots, this paper presents an algorithm of 2-grade interpolation scheme which includes the rough and fine interpolations. Both preacceleration and post-acceleration are employed to meet the restrictive requirements of coordinated dynamic performance and the detailed procedure of the interpolation algorithm is given too.

关 键 词：串并联机器人 插补算法 PMAC(Programmable MULTI-AXIS Control) 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]