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Local structurization kinematic decoupling of six-leg virtual-axis NC machine tool

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3 Author(s)
Qingding Guo ; Electr. Eng. Inst., Shenyang Univ. of Technol., China ; Yang Liu ; Ying Liu

Decoupling is always a difficult problem in the field of virtual-axis numerical control (NC) machine servocontrol. In this paper, the idea of local structurization method is combined with the theory of decoupling. A new decoupling method, local structurization decoupling method, is proposed first. Jacobian matrix is decomposed into two matrices-translation matrix and rotation matrix. So decoupling between parallel motion and rotation is implemented in a six-leg virtual-axis NC machine tool for small time intervals.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:7 ,  Issue: 4 )

Date of Publication:

Dec. 2002

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