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.
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宋昆鹏,胡鹏浩,李保生.基于Matlab和单片机的并联机器人控制系统[J].农业机械学报,2007,38(5):147-149.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(5):147-149.