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Volume 29 Issue 6
Jun.  2003
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Journal of Beijing University of Aeronautics and Astronautics  > 2003  >  29(6): 556-560.
Yin Xufeng, Huan Ji. Research on Control Problem and Controller of Parallel Robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2003, 29(6): 556-560. (in Chinese)
Citation: Yin Xufeng, Huan Ji. Research on Control Problem and Controller of Parallel Robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2003, 29(6): 556-560. (in Chinese)
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Research on Control Problem and Controller of Parallel Robot

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics

  • Received Date: 15 Apr 2002
  • Publish Date: 30 Jun 2003
    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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    • References(1)
  • [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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