Wire-driven Parallel Manipulators to achieve the motion control of special flying object of six DOFs was utilized.A control method of dual CPU based on PMAC and industrial PC was proposed.

• 应用绳牵引并联机构实现目标飞行物六自由度特定运动的控制方式,提出了一种以PMAC运动控制器为控制核心、工业控制机为系统支撑单元的双CPU控制系统。