【摘要】 介绍一种在笛卡尔坐标系下并联机械臂的控制算法。该算法采用逐点比较的方法、转动两并联机械臂角度的方式来拟合所需要的轨迹,并给出了算法的程序流程图。同时可根据此算法可计算机械臂的可达区域。该算法简单,易于实现,同时可直接用MATLAB软件进行仿真。更多还原

【Abstract】 This paper introduces a control algorithm of parallel manipulator in Cartesian coordinates.The algorithm uses the method of point by point comparison to rotate the rotation angle of two parallel manipulators to fit the desired trajectory and gives the program flow chart.At the same time,according to this algorithm,the reachable region of manipulator arm can be obtained.The algorithm is simple to implement and can be directly used MATLAB software to simulate.更多还原