非標數(shù)字裝備通用控制器運動控制技術研究.pdf

1、天津理工大學碩士學位論文非標數(shù)字裝備通用控制器運動控制技術研究姓名：劉振忠申請學位級別：碩士專業(yè)：機械電子工程指導教師：趙連玉20080101AbstractThemotioncontrolsystemstructureofnonstandardnumericalequipments，analysisofkinematicsformanipulators，andtracegenerationwereresearchedroundthea

2、ll—purposecontrollerofnonstandardnumericalequipmentsCombiningwiththerequirementofnonstandardnumericalequipmentsforall—purposecontrollerthestructuresofsoftwareandhardwareofallpurposecontrollerwereanalyzedComparingwiththee

3、xistingmotioncontrolsystemstructure，thedistributingmotioncontrolsystemstructurebasedonPCI04wasputforwardTheparameterinputkinematicsmodelsfornonstandardnumericalequipmentsmanipulatorswereestablishedbytheDenavit—Hartenberg

4、method，andtheinversekinematicswasgainedbythealgebramethodthatwasputforwardbyPauleta1nedirectkinematicsandinversekinematicswereprogrammedtodynamiclinklibraryfunctionsThechoiceofmodelsandtheDHparametersinputbyusercanbetran

5、sferredtothedynamiclinklibraryfunctionsasfunctionparameternejointspacemethodandrightanglespacemethodoftracegenerationandacceleration／decelerationcontroltechnologywereanalyzedTheuniversalinterpolationarithmeticbasedonthri

6、cesplinefunctionwasadvancedThedissertationprovidesacollectiveframeformoreresearchofthedesignofsoftwareandhardwareofmotioncontrolsystemofnonstandardnumericalequipmentsTheall—purposekinematicsmodelisobtained，andtheefficien