一种高效虚拟轴机床的位置正解

针对机床运动的连续性和可实现性，提出了一种用位置反解来求解位置正解的数值解法。该方法首先假定一个初始的活动平台位姿，并根据该位姿所对应的6条腱长和给定值之间的差值来调整该位姿，经过数次迭代后求出实际的活动平台位姿。由于位置反解非常易求，所以这种方法简单快捷，大大提高了计算速度，不但使所求解具有实际意义，而且计算时间也可以满足实时控制的要求。

Effective Method of Forward Displacement Analysis for Virtual Axis Machine Tool

In consideration of the continuity and possibility of machine tool movement, an algorithm to carry out the forward displacement based on the reverse displacement analysis is proposed. The initial position and pose of movable platform are supposed firstly, and the initial position and pose are corrected by the difference between calculated lengths of six legs and the given ones. After several iteration steps, the actual solution of forward displacement analysis can be obtained. Since the reverse displacement analysis is very easy to calculate, the above algorithm ensures that the calculating speed is greatly enhanced and the expended calculating time can meet the requiremnt in a real-time control process.