六自由度钢带并联机器人运动控制系统的研制  

Development of motion control system of steel band parallel robot with six degree of freedom

作　　者：艾青林[1] 黄伟锋[1] 祖顺江[1] 舒剑[1] 

机构地区：[1]浙江工业大学特种装备制造与先进加工技术教育部重点实验室,浙江杭州310014

出　　处：《机电工程》2011年第2期131-135,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(50805129);浙江省自然科学基金资助项目(Y106028)

摘　　要：运动控制系统对于钢带并联机器人至关重要。提出了钢带并联机器人运动控制系统的设计思路,介绍了该控制系统的工作原理与功能,阐述了SPiiPlus PCI-LT-6运动控制卡的性能指标、硬件结构、用户程序结构等。针对钢带并联机器人位置逆解的运动控制问题,给出逆解的ACSPL求解框图和编程代码,分析了钢带并联机器人运动控制中的关键技术问题,并指出相应的解决方案。研究结果表明,该运动控制系统可满足钢带并联机器人精确快速运动的要求。It is very important to design motion control system for steel band driven parallel robot.The design idea to the motion control system of the steel band driven parallel robot was presented.The working principle and function of the motion control system was introduced.The performance,hardware structure and the user application component of the SPiiPlus PCI-LT-6 motion control card were illustrated.Aiming at the kinematic control problem to inverse position solution for steel band driven parallel robot,the inverse solving diagram of ACSPL and programm code were presented.The key technology problems of motion control of steel band driven parallel robot were analyzed and the corresponding solutions were pointed out.The research result shows that the motion control system can satisfy with condition of precise and rapid movement for steel band driven parallel robot.

关 键 词：钢带并联机器人 控制系统 运动控制卡 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]