摘要
为实现PRS-XY型混联机床的运动控制,建立了该机构的逆运动学模型,导出了虚轴和实轴位置变换的逆运动学公式。提出了“PC+Turbo PMAC”开放式数控系统构建模式,将逆运动学变换算法嵌入到Turbo PMAC中,并由Turbo PMAC完成粗插补运算,使运动过程不再依赖上位机,克服了上位机与Turbo PAMC的数据传输瓶颈,提高了控制系统的可靠性和实时性。
In order to control the motion of PRS-XY hybrid PMT, its kinematics modeling is set up and its kinematics expression for calculating the position change from realistic axis to virtual axis is deduced. The open mode based on ＂PC ＋ Turbo PMAC＂ is put forward. Kinematics calculation for motion conversion is embedded into the Turbo PMAC which accomplishes rough interpolation so that the motion process no longer depends on a superior computer. Consequently, the bottleneck of data transport between the superior computer and the Turbo PAMC is avoided. Thus reliability and real - time property of the control system are improved.
出处
《机械科学与技术》
CSCD
北大核心
2006年第1期57-59,98,共4页
Mechanical Science and Technology for Aerospace Engineering
作者简介
牛志刚（1965-），男（汉），山西，副教授，博士研究生 E-mail：zgniu@163．com
