澶?绾跨?绋?搴??????ㄤ?涓??绋?涓????惰?琛?澶?涓?嚎绋?锛?姣?涓?嚎绋?瀹???涓?????浠 ?°?????ㄥ?绾跨?缂?绋????????╃?ㄨ?绋?涓????变韩璧?婧?????灏?杩?绋????㈡??????璧?婧??? ?€??浠???澶у?????CPU??浣跨?ㄦ????锛?澶??ㄤ???瑕??卞ぇ???堕?村???浠ュ??澶???澶ч?? 10?版??????剁??搴??ㄧ?搴???
?????杩?????绮惧伐绯荤????ュ?o??ㄤ?缁?SERCOS-III?ュ?g???虹?涓?锛?缁??轰? ?轰?SERCOS-III?ュ?g??浜?杞寸簿宸ュ??宸ヤ腑蹇???绮惧伐绯荤????翠?缁???锛?骞跺?PLCI/0? ?g‖浠跺??杞?欢娴?绋?杩?琛?浜?璁捐?锛?瀹??颁?杞?LC绯荤?涓?I/O杈??ヨ??烘ā?????版? 浜ゆ?€??
???棰??ユ?浜?涓??界?瀛﹂?㈤???骞惰??宸ヤ??哄?ㄤ汉棰???椤圭???骞剁?卞?娉㈠??介????浣?椤圭? (2014D10008)??绮惧伐涓?浠f?烘?浜у?????板??ㄧず??绋?(2014BAZ04784)??绮惧?椹卞?ㄦ?у?舵?? ?????板?㈤??(2012B82005)??瀹?娉㈠????剁?瀛﹀?猴?2014A610084)??????
骞惰???烘??锛?ParallelMechanism)???变袱涓???涓や釜浠ヤ?寮?????ㄩ?捐??ラ??骞冲?板???ㄥ钩 ?帮?骞朵??锋??涓や釜??涓や釜浠ヤ????卞害???????烘??锛?瀹????烘??瀛︾??涓?涓???瑕???????
???涓昏?瀵瑰钩??袱???卞害楂???骞惰??宸ヤ??哄?ㄤ汉Delta杩?琛?浜??烘??瀛︺??杩??ㄥ????ㄥ?? 瀛﹀????锛?瀵规??璁捐????哄?ㄤ汉???烘??杩?琛?浜???杩帮????轰??哄?ㄤ汉?硅?诧?瀵瑰?惰?琛?浜?杩??ㄥ? ??瑙e??杩??ㄥ?姝hВ????锛?寰??颁??稿???浣?绉汇????搴︺??????搴﹁〃杈惧?锛??╃?ㄦ???兼???ユ?规? 瀵规?哄?ㄤ汉杩?琛?浜?绠??????ㄥ??瀛﹀????锛?寰??颁?绠??????ㄥ??瀛﹁〃杈惧???????锛?瀵规?哄?ㄤ汉杩?琛? 浜?宸ヤ?绌洪?村??????濂?寮?浣?褰㈠????锛?浠???璁轰?寰??颁??哄?ㄤ汉??宸ヤ?绌洪?村??濂?寮?浣?褰€??
???т娇?ㄧ??杞ㄨ抗瑙????锋?″?芥?版??板??绫伙???互灏?杞ㄨ抗瑙????锋?″?芥?板??涓轰?娆°??浜?娆°?? 涓?娆°??浜?娆″??澶?娆°??涓?娆℃?锋?″?芥?拌建杩硅???娉???绉颁负??搴﹀父绯绘?拌建杩硅???娉?锛?璇ユ?规?涓 ??搴︿?涓哄父?帮?浣?缃????堕?寸????涓?娆$嚎?у?芥?帮?褰???搴︾????跺????搴︽??绌峰ぇ锛????????? 搴﹀??涓洪?讹??变???璁轰???绌峰ぇ??????绐???浼?瀵圭郴缁?????寰?澶у?插?伙???姝わ??ㄦ?哄?ㄤ汉??杞 杩硅???涓??寰?灏?浣跨?ㄤ?娆℃?锋?″?芥?般??
???浣跨?ㄤ?绉??规?瀵?elta涓よ???卞害楂???骞惰??宸ヤ??哄?ㄤ汉杩?琛?浜???????杞ㄨ抗瑙???锛? ???????宠??绌洪?磋建杩硅??????跺?ㄥ??瀛︿?????宸ヤ?绌洪?磋建杩硅??????跺?ㄥ??瀛︿??????宠??绌 ?村??宸ヤ?绌洪?寸??娣峰??杞ㄨ抗瑙??????跺?ㄥ??瀛︿?????
缁?杩???瀹??????寸??涓???????锛???elta?哄?ㄤ汉??璁捐?涓??缁???浜??哄?ㄤ汉杩??ㄥ???? ??瀛︾??璁恒??楂?绛??ㄥ??瀛︺???哄?ㄤ汉杞ㄨ抗瑙?????璁恒??Linux绯荤????哄?ㄤ汉??浣?绯荤?ROS??? 姘??у?剁‖浠剁??稿?虫?????椤哄?╁???浜??哄?ㄤ汉??璁捐???瀹?楠?宸ヤ?锛???寰???????濡?涓?锛?
?????╃??DAMS杞?欢杩?琛?寤烘ā锛???iew涓?缓绔?绠????????妯″????锛?璋??村奖??绯 缁?浜х?????????椤瑰???帮???iew????腑杩?琛?浠跨??????锛???杩?澶??????ㄦ???PID?у?剁郴 缁????规?锛??ュ????瀵圭??????瑰?????碉??辨?纭???ュ?ゅ??藉?︽??缁?杈惧?版???剁???????????
??杩?涓?涓?绔?瀵瑰奖???????绱?????涓???涓???绱???????锛?瀵圭????瑰??????涓????炽???变? ??????绉??╂?﹁?????????辨??冲?板??互?╃?ㄥ???????澶??????ㄦ??ユ?垫?宸ヤ??板?ㄥ?虹? ????朵骇????????33~45]锛??冲???婵????ㄦ?????╃?ㄥ?朵??规??ヨ揪?拌??崇????????? ADAMS/View涓????ユ?寮﹀??锛??稿?浜????ョ??绠?璋????????涓?绉????ㄦ???褰㈠??ユā???ㄧ? 瀹?涓??哄?宸ヤ??跺??????ㄧ?????碉?杈??ヤ?????澶??????ㄦ?锛?????????瀹?浠??????拌薄?? ?瑰?????点??