机械制造与自动化2011，Vol.40Issue(6)：167-170,4.
并联机器人单支链伺服控制研究
Study of Single-servo Control of Parallel Branched Chain
王银 1李开明1
作者信息
- 1. 南京理工大学机械工程学院,江苏南京210094
- 折叠
摘要
Abstract
This paper takes the parallel single-chain system as the object of study and uses dynamic analysis software ADAMS to establish the system dynamic model and add external load and constraint. The control algorithm of servo system is designed in the control system of Matlab simulation software and the control output is used to drive the mechanical model. ADAMS / Controls module is taken as two software interface,the mechanical lever position of ADAMS model and the motor speed output are fed back to the control model to make closed-loop mechanical system and control system achieve the joint simulation which can provide a reliable basis for single-chain control system design and commissioning.关键词
并联机器人/单支链/复合控制/联合仿真Key words
parallel robot/ single chain/ compound control/ co-simulation分类
信息技术与安全科学引用本文复制引用
王银,李开明..并联机器人单支链伺服控制研究[J].机械制造与自动化,2011,40(6):167-170,4.
