An Inverse Kinematic Algorithm for Three-axis Centrifuge
For the inverse kinematic problem under the condition that the angular acceleration of the main arm is constant or segmental constant,an algorithm that can obtain the analytical solutions is proposed.Based on the method of establishing coordinate system in multi-rigid body,the forward kinematic mathematical model of the three-axis centrifuge for the aircraft engine test is built.Using the feature of constant or segmental constant angular acceleration of the main arm,the analytical solution for the process from stillness to the desired acceleration state is derived according to the two situations,and the correctness of the solution is verified by simulation.It provides the base for the real time trajectory generation for the three-axis centrifuge control system.
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维普
