摘要
针对高强度聚焦超声串并联机器人的硬件结构特点,插补算法采取了粗插补和精插补相结合的两级模式。为满足电机轴动态性能限制条件,同时采用了插补前加减速和插补后加减速的方法,并给出了插补算法的具体实现步骤。
According to the hardware characters of the high intensive focused ultrasound （HIFU） serial-parallel robots, this paper presents an algorithm of 2-grade interpolation scheme which includes the rough and fine interpolations. Both preacceleration and post-acceleration are employed to meet the restrictive requirements of coordinated dynamic performance and the detailed procedure of the interpolation algorithm is given too.
出处
《中国医疗器械杂志》
CAS
2006年第4期241-244,共4页
Chinese Journal of Medical Instrumentation
基金
863机器人资助项目
项目编号:2002AA420100-3
