| Turbo PMAC运动学控制机理研究和应用 |
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| 引用本文： | 牛志刚,张建民,孙宏昌. Turbo PMAC运动学控制机理研究和应用[J]. 太原理工大学学报, 2006, 37(1): 9-12 |
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| 作者姓名： | 牛志刚 张建民 孙宏昌 |
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| 作者单位： | 1. 太原理工大学,机械工程学院,山西,太原,030024
2. 北京理工大学,机械与车辆工程学院,北京,100081 |
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| 基金项目： | 高等学校博士学科点专项科研项目 |
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| 摘 要： | 分析了Turbo PMAC多轴运动控制器的运动学功能，在实验的基础上对其运行和控制机理进行了研究。研究证明，可以将正运动学程序和逆运动学程序直接下载到Turbo PMAC中，由Turbo PMAC独立完成运动学计算和运动轨迹粗插补。对正运动学的作用做了分析，提出了在缺少正运动学时的控制策略和方法，使Turbo PMAC的运动学控制功能更具现实意义。
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| 关 键 词： | 并联机床 运动学 控制机理 |
| 文章编号： | 1007-9432（2006）01-0009-04 |
| 收稿时间： | 2005-03-25 |
| 修稿时间： | 2005-03-25 |
Study and Application of Control Mechanism Based on Kinematics of Turbo PMAC |
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| NIU Zhi-gang,ZHANG Jian-min,SUN Hong-chang. Study and Application of Control Mechanism Based on Kinematics of Turbo PMAC[J]. Journal of Taiyuan University of Technology, 2006, 37(1): 9-12 |
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| Authors: | NIU Zhi-gang ZHANG Jian-min SUN Hong-chang |
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| Abstract: | The function of Turbo PMAC about kinematics calculation is analyzed, and the research of control and implementation mechanism is also given based on experiment. It has been proved by the research that both the forward-kinematics and inverse kinematics programs can be downloaded into Turbo PMAC directly and the kinematics calculations and the coarse interpolation of motion trajectory are all finished by Turbo PMAC solely. In this paper, the effect of forward-kinematics is analyzed, and a strategy that can have the control function of Turbo PMAC through kinematics calculation take on practical property, is introduced for the control which is in the absence of forward kinematics calculation. |
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| Keywords: | Turbo PMAC |
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