基于OpenMP的Stewart并联机器人控制系统  

Control system of Stewart parallel robot based on OpenMP

作　　者：李昂[1] 韩康[1] 霍琦[1] 于慧莉[2] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]国网吉林省电力有限公司长春供电公司,吉林长春130000

出　　处：《传感器与微系统》2016年第7期67-69,72,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(11302222);中国科学院长春光学精密机械与物理研究所创新基金资助项目(Y4CX1SS141)

摘　　要：针对Stewart并联机器人控制难度大的问题,实现了一种基于Open MP的Stewart并联机器人上位机控制系统,对机器人实现了快速有效直观的振动控制。系统共包含了动力学解算模块、数据传输模块和人机交互模块,不仅能够准确地计算出振动数据,控制机器人振动,而且也设计了简洁明了的用户界面,提升用户体验。为了提高软件的执行效率,还加入了Open MP多线程并行计算技术加速控制算法,最高达到了2.18倍的加速比。验证了软件计算的正确性、控制的稳定性和执行的高效性。Aiming at problem of great control difficulty of Stewart parallel robot,implement an upper PC control system of Stewart parallel robot based on open MP,which achieves fast,efficient and intuitive vibration control on robot. This system contains solution module of dynamics,data transmission module and Human-Computer Interaction module,it not only can accurately calculate vibration data,control robot vibration but also contains a concise User Interface to improve user＇s experience. Multi-thread parallel computation technology acceleration control algorithm is also used to improve software efficiency based on Open MP which achieves 2. 18 speedups. A series of tests are executed to prove the correctness of software computation,stability of control and high efficiency of execution.

关 键 词：并联机器人 OPENMP 并行计算 控制软件 动力学 

分 类 号：TP319[自动化与计算机技术—计算机软件与理论]