【摘要】 提出了一种并联机器人的驱动控制方案。利用Matlab将运动轨迹离散化并进行位姿反解,处理生成相应的机器人运动输入数据,并将数据发送至单片机执行,驱动步进电动机完成机器人的控制。该系统成本低,柔性较好,同时可以获得较高的运动精度。更多还原

【Abstract】 A control strategy of parallel manipulator was developed for a planar 3-RRR parallel manipulator.The motion trajectory was discretized to obtain its inverse kinematics solution,generate the input motion data,transmit the motion data to MCU via serial port and execute the data by MCU to drive the manipulator.This method can bring low cost,control flexibility and high motion accuracy.更多还原