提高控制精度的并联机构速度规划算法

利用并联机构的动力学模型，对机构在笛卡儿坐标中基于驱动器空间限制的速度规划算法进行了研究，提出了基于驱动器空间限制的S形速度规划算法．该算法不仅考虑了运动中的速度和加速度，还考虑了加速度的变化即加加速度，从而得到更为精确的速度规划．仿真实验表明，S形速度规划算法在笛卡儿坐标中能够获得具有更好的位置和速度跟踪性能的高速高精度运动．

Velocity planning algorithms of parallel manipulator to improve control precision

The velocity planning algorithms based on limits of actuator space in Cartesian space was studied using the dynamic model of parallel manipulator. An S-curve velocity planning algorithm based on the limits of actuator space was presented. Not only velocity and acceleration, but also differential of acceleration were considered in this algorithm so as to achieve a more accurate velocity algorithm. Simulation experiments show that the S-curve velocity planning algorithm is more capable of tracking position and velocity, thus achieving high speed and high precision in Cartesian space.