Control Algorithm of 3-dof Translational Parallel Robot
MENG Yunhong
JIN Yi
HUANG Jin
Abstract：This paper deals with a kind of 3‐dof translational parallel mechanism kinematics modeling .The Inverse ki‐nematics is obtained by using the matrix method .According to the movement of the terminal actuators ,the displacement of the moving parts in unit time is calculated ,then the number of pulse of the stepper motor in unit time is calculated .The cor‐rectness of the stepper motor control algorithm is verified by the experiments .It provides a theoretical method for parallel ro‐bot motion control .
Keywords：3-dof translationalparallel mechanismrobotinverse kinematicsstepper motorcontrol algorithm
Publication Date：2015-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 1178-1181 )