Stewart型六自由度平台正反解研究
Study for positive solutions and anti-solution of Six-DOF Stewart platform
本文研究了Stewart型六自由度平台的正解和反解。根据Stewart型六自由度平台的结构的特点，为了达到高精度的实时控制，设计出具有算法简单、效率高，并具有易于编程的正反解算法。本算法已经在MATLAB下仿真模拟过，并嵌入到实际平台上VxWorks系统下实际实现。本文介绍这一算法的实现思想。
his article studies the Six-DOF Stewart platform-type positive solutions and anti-solution. according to the structural characteristics of Six-DOF Stewart platform, in order to achieve high precision real-time control and design a positive and negative solution algorithm which is simple, efficient, and has easy-to-programming . The algorithm has been simulated under MATLAB, and embedded it into the VxWorks system to tun. This article describes the implementation of this design idea.
蔡保富、廖传书
机械学机械设计、机械制图自动化技术、自动化技术设备
Stewart型六自由度平台正解反解实时控制VxWorks
Six-DOF Stewart platformpositive solutionsanti-positive solutionsReal-time controlVxWorks
蔡保富,廖传书.Stewart型六自由度平台正反解研究[EB/OL].(2010-03-18)[2025-07-16].http://www.paper.edu.cn/releasepaper/content/201003-554.点此复制
评论