摘要
结合3 RRRT并联机器人数控系统的开发,提出了粗、精插补策略和算法,研究了插补误差的分布规律.结果表明,在3 RRRT并联机器人数控系统中,精插补误差可以忽略不计.
According to the numeric control (NC) system of 3-RRRT parallel manipulator, the NC interpolation algorithm for the parallel manipulator is investigated. The algorithm that can be implemented by two steps , the rough interpolation and the precise interpolation. In the thesis, the interpolation error is researched. It concludes that the precise error is negligible in the NC system.
出处
《天津理工大学学报》
2005年第1期50-53,共4页
Journal of Tianjin University of Technology
基金
天津市应用基础研究重点基金资助项目(033803111)
天津市高等学校科技发展基金资助项目(020516).
