摘要
针对目前基于PLC的机械手控制系统对电机控制的实时性不佳等问题,设计了两自由度并联机械手控制系统,并采用运动控制CPU作为控制器.通过建立数学模型对机械手进行分析,并编制了精简的控制程序,实现了机械手的高速、精确、平稳运行.
Aiming at the poor real-time performance of the PLC manipulator control system over the motor, this paper studies and designs the 2-DOF parallel manipulator control system,which wields the motion-CPU as the controller. A mathematical model has been established to analyze the manipulator and a simplified control program has been given. With all that measures, the system has run rapidly,accurately and steadily.
出处
《徐州工程学院学报（自然科学版）》
CAS
2014年第1期67-71,共5页
Journal of Xuzhou Institute of Technology(Natural Sciences Edition)
