摘要
应用绳牵引并联机构实现目标飞行物六自由度特定运动的控制方式,提出了一种以PMAC运动控制器为控制核心、工业控制机为系统支撑单元的双CPU控制系统。叙述了系统的功能,并介绍了硬件和软件设计方法。仿真分析证明,基于PMAC的绳牵引控制系统完全可以实现人机接口的定制和实时控制部件的参数化。
Wire-driven Parallel Manipulators to achieve the motion control of special flying object of six DOFs was utilized. A control method of dual CPU based on PMAC and industrial PC was proposed. The function of control system was introduced, and then the handware and software were discussed. This simulation of system demonstrates that this control system can meet the demands of this project.
出处
《机电工程》
CAS
2006年第10期28-30,共3页
Journal of Mechanical & Electrical Engineering