非標(biāo)數(shù)字裝備通用控制器運(yùn)動(dòng)控制技術(shù)研究.pdf

1、天津理工大學(xué)碩士學(xué)位論文非標(biāo)數(shù)字裝備通用控制器運(yùn)動(dòng)控制技術(shù)研究姓名：劉振忠申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：機(jī)械電子工程指導(dǎo)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