• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.679-684
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• 2000

This paper presents the development of system and program for a Parallel-Typed CNC Machine. The system consists of parallel manipulator, PC (Personal Computer), DMC (DSP Motion Controller), and machining tools. In order to control the manipulator, the program, which is implemented in "c/c++" language, involves inverse/direct kinematics, velocity mapping, Jacobian and etc. A controller computes the kinematic formulation in real-time and generates and motion by the DMC. A monitor, which has access to program and sensory information, displays the status of manipulator.nipulator.