Title :
Motion control algorithm of a 5-DOF parallel machine tool
Author :
Cheng, Li ; Zhao, Yunfeng ; Zhao, Yongsheng
Author_Institution :
Robot. Res. Center, Univ. of Yanshan, Qinhuangdao
Abstract :
A 5-Degree of Freedom (DOF) 5-UPS/PRPU fully parallel machine tool (PMT) was introduced. Based on the original edition of CNC system, the concise motion control algorithm was deduced by analyzing the identical feature between two Euler angles of 5-UPS/PRPU PMT and two swing angles of conventional 5-axis cutter swing machine tool. Then by using the formula of the inverse kinematic solution of the PMT, the length of the driving axis in the joint space can be calculated. The new CNC system software based on this algorithm was developed and it has been applied successfully to the 5-DOF PMT in our laboratory.
Keywords :
computerised numerical control; machine tools; motion control; 5-DOF parallel machine tool; 5-UPS/PRPU parallel machine tool; CNC system software; Euler angle; conventional 5-axis cutter swing machine tool; inverse kinematic; motion control algorithm; Biomimetics; Computer numerical control; Control systems; Kinematics; Machine tools; Machining; Motion control; Parallel machines; Parallel robots; Uninterruptible power systems; 5-DOF; motion control algorithm; parallel machine tool;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522510
