Motion Control Technology Of The All-purpose Controller For Nonstandard Numerical Equipments

The motion control system structure of nonstandard numerical equipments, analysis of kinematics for manipulators, and trace generation were researched round the all-purpose controller of nonstandard numerical equipments. Combining with the requirement of nonstandard numerical equipments for all-purpose controller, the structures of software and hardware of all-purpose controller were analyzed. Comparing with the existing motion control system structure, the distributing motion control system structure based on PC104 was put forward. The parameter input kinematics models for nonstandard numerical equipments manipulators were established by the Denavit-Hartenberg method, and the inverse kinematics was gained by the algebra method that was put forward by Paul et al. The direct kinematics and inverse kinematics were programmed to dynamic link library functions. The choice of models and the D-H parameters input by user can be transferred to the dynamic link library functions as function parameter. The joint space method and right-angle space method of trace generation and acceleration/deceleration control technology were analyzed. The universal interpolation arithmetic based on thrice spline function was advanced. The dissertation provides a collective frame for more research of the design of software and hardware of motion control system of nonstandard numerical equipments. The all-purpose kinematics model is obtained, and the efficiency of programme is improved. The dissertation also provides frames of reference for trace generation.