現代運動模擬器對響應快速性、跟蹤準確性等仿真運動特性提出了更高要求，使得
并聯機器人機構的運動控制更為復雜。以某型潛艇操縱模擬器為例，其控制軟件采用模塊化設計，利用NT 環境下多線程技術,結合多媒體定時器、普通定時器,實現軟件的洗出濾波、運動學反解、運動信息發送、安全保護等多任務的有機調度。在外控線程中建立網絡數據接收、數據處理、液壓缸控制信息發送等三個子線程,將它們從外控線程中分離出來,大大提高了數據傳輸和處理及運動控制的實時性和可靠性。
關鍵詞：并聯機器人；多線程；多媒體定時器；運動控制
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