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Steuerungskonzept für Werkzeugmaschinen mit unbestimmter Kinematik

 
: Neugebauer, Reimund; Schröder, T.

Zeitschrift für wirtschaftlichen Fabrikbetrieb : ZWF 103 (2008), No.5, pp.338-342
ISSN: 0947-0085
German
Journal Article
Fraunhofer IWU ()

Abstract
Machine tools with over-conditioned kinematics are a special type of parallel kinematics systems, which have one or more redundant kinematics chains. While these systems have advantages from its kinematics chains. While these systems have advantages from its kinematics (e.g. avoid singularities), the application of a usual control concept is problematic because of the structural conditions of the machine. Papers about this topic almost always present an approach (with all its disadvantages with a NC realizes the position control loop and a drive control which implements a velocity control loop. In this article a control concept is presented that consists of an NC which generates position command values and a drive control that implements a usual cascaded position control loop. All modifications are sited in the transformation interface of the NC.

: http://publica.fraunhofer.de/documents/N-76028.html