NUMERICAL CONTROLLER FOR PARALLEL KINEMATICS MACHINE BASED ON PC ARCHITECTURE

摘要

While designing a control and drive system for parallel kinematics machines several specific requirements need to be considered. These requirements, related to the desired kinematic and dynamic properties of the kinematics structure as well to geometrics properties finding expression in inverse and forward kinematics. The choice of right structure of the control and drive system is therefore not very easy. On the one hand calculation processing should be as fast as possible because of high speed and acceleration of TCP, on the other hand highly flexible controller is desired because of specific geometric structure. In this context authors suggest use of the PC architecture to build control system. This solution can meet requirements of high flexibility, power and low price.