多电机驱动的牙弓曲线发生器的运动控制与实验研究

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姜金刚, 张永德, 吕培军, 王勇. 多电机驱动的牙弓曲线发生器的运动控制与实验研究[J]. 机器人, 2009, 31(5): 465-471.. JIANG Jingang, ZHANG Yongde, LÜ Peijun, WANG Yong . Motion Control and Experimentation on the Dental Arch Generator Driven by Multi-motors. ROBOT, 2009, 31(5): 465-471..

摘要根据多电机驱动的牙弓曲线发生器的同步运动控制要求，本文就多电机驱动的牙弓曲线发生器进行了运动学分析．采用IPC+PC6401控制卡的硬件控制方案，基于VC++6．0开发平台，应用多线程技术实现多电机驱动的牙弓曲线发生器的实时闭环同步控制，并以多操作机排牙机器人为实验样机，进行了控制实验和排牙实验．实验结果表明，多线程技术的应用，避免了实时控制造成的主线程阻塞，实现了多电机驱动的牙弓曲线发生器的并行协调运动；通过误差分析和具体的排牙实验可知，该控制策略和技术路线满足了运动速度和定位精度的要求．

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	姜金刚
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关键词 ：牙弓曲线发生器, 同步控制, 多电机, 多线程, 排牙机器人

Abstract：Aiming at the synchronous motion control of the dental arch generator with multi-motor drive,this paper analyzes the kinematics of the dental arch generator,and presents a hardware control scheme based on industrial personal computer and control card PC6401.Real-time closed loop synchronous control is realized for the dental arch generator based on multithreading technology and VC++6.0,and experiments on control and tooth-arrangement are performed with a multi-manipulator tooth-arrangement robot prototype.The experiment indicates that the application of multithreading technology to the control program prevents the main thread block in real-time control,and realizes parallel coordinated control for the dental arch generator.Error analysis and tooth-arrangement experimentation are made,and the results indicate that the control strategy and technical route can fulfill the requirements for motion speed and location precision.

Key words： dental arch generator synchronous control multi-motor multithreading tooth-arrangement robot

收稿日期: 2008-11-24

TP242

基金资助:国家自然科学基金资助项目（50675054）；黑龙江省科技攻关计划资助项目（GC03A514）

作者简介: 姜金刚（1982- ），男，博士生．研究领域：机器人机构与控制．
张永德（1965- ），男，博士，教授，博士生导师．研究领域：医疗机器人，仿生机器人，多指灵巧手．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I5/465

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