建立标定模型，用逆向运动学标定方式模拟了一新型五轴并联机床的标定过程，结果表明这种标定方法的算法收敛快、鲁棒性好。
After establishing the model for the calibration of a novel five-axis parallel machine tool, the process of calibration is simulated by minimizing inverse kinematic residuals.
推导出了刀位轨迹算法和切削行距算法，建立了面向新型并联机床的CAM系统框架模型。
Algorithms for tool path calculation and cutter path interval calculation are derived. Frame model for CAM system of PMTs is established.
分析了并联pid的离散化过程，采用改进的PID算法实现了变参数、变结构的PID调节模式。
This paper analyzes the process of parallel PID discretization. An improved PID algorithm is adopted to realize a PID regulation mode with variable structure and parameters.
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