基于MATLAB和EMC2的平面三自由度并联机构运动分析和控制系统设计

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首先对平面三自由度并联机构进行运动学逆解分析,并应用MATLAB软件对该逆解模型进行求解;在此基础上,利用求解结果对EMC2源代码中的运动模块进行修改与编译,并通过硬件配置,最终实现了对样机的运动控制。 Inverse kinematics analysis was conducted to planar parallel mechanism with three degrees of freedom, and solution was sought to this inverse solution model with MATLAB software; on this basis, modification and edition was done to the motion module of EMC2 source code with the results of solution, and with the hardware disposition, control to motion of the sample machine is finally realized.