Research on preview control algorithm of PRS-XY hybrid machine tool based on kinematics calculation

Abstract

This paper presents a preview control algorithm (PCA) for hybrid machine tool based on kinematics calculation. HMT (Hybrid Machine Tool) combines the flexibility of parallel structure with the extensibility of series structures. The kinematics are calculated and analyzed as well as the calculation process. Due to the complexity of its structure and kinematics algorithms, a motor PCA is proposed in the situation of calculation failure and used to reduce the corresponding motor vibration. The experimental results shows that the PCA is an effective way to detect and suppress the motor vibration and shock during the motion control of PRS-XY HMT.