并联机器人仿真运动控制的多线程实现Multithreadin

现代运动模拟器对响应快速性、跟踪准确性等仿真运动特性提出了更高要求，使得
并联机器人机构的运动控制更为复杂。以某型潜艇操纵模拟器为例，其控制软件采用模块化设计，利用NT 环境下多线程技术,结合多媒体定时器、普通定时器,实现软件的洗出滤波、运动学反解、运动信息发送、安全保护等多任务的有机调度。在外控线程中建立网络数据接收、数据处理、液压缸控制信息发送等三个子线程,将它们从外控线程中分离出来,大大提高了数据传输和处理及运动控制的实时性和可靠性。
关键词：并联机器人；多线程；多媒体定时器；运动控制
Abastract: In order to meet the demand of the emulational kinetic characteristics of modern
motion simulator such as fast response and precise tracking, the control system of the parallel
robot mechanism becomes more complex. As an example of submarine manipulating simulator,
the modularization design and the technologies such as the multimedia timer, common timer and multithreading under NT environment etc. are adopted in the control system programing, which realize the multitask scheduling of washout filter, inverse kinematics solution, sending control data and safeguarding. By separating three sub-threadings, the Ethernet data acquisition, the data processing and the hydraulic cylinder control information sending, from the external control threading, the real time performance and reliability of the data transmitting, processing and motion control can be improved.
Key words:parallel robot; multithreading; multimedia timer; motion control