A Control Method Research of Parallel Mechanisms

Heng Chen; Yan Bing Ni

doi:10.4028/www.scientific.net/AMR.619.51

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 619A Control Method Research of Parallel Mechanisms

A Control Method Research of Parallel Mechanisms

Abstract:

This paper deals with a control method research and trajectory planning of parallel mechanisms. Control system scheme which is based on PC and motion controller has high openness, high degree of modularization and support for non-linear mapping relationship between operating space and joint space of parallel mechanisms with high flexibility and low cost. PC and NI motion controller and LabVIEW constituted hardware core and software platform of control system, respectively. Hardware technology of control system contained hardware selection, control circuit design and interface technology; software technology of control system developed application programs layer, core control layer and drive functions layer to realize core control functions of finding home, single-step or continuous movement and micro adjustment, which was based on hardware principle. Trajectory has been planned for a typical high speed parallel robot.

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Periodical:

Advanced Materials Research (Volume 619)

Pages:

51-55

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.619.51

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Online since:

December 2012

Authors:

Heng Chen, Yan Bing Ni

Keywords:

Control Method, Parallel Mechanisms, Trajectory Planning

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