交叉耦合控制的平移并联机器人位置控制研究

为了改善平移并联机器人对期望位置跟踪的准确性,提出基于交叉耦合控制的集成电液伺服驱动平移并联机器人位置控制.通过对三自由度集成电液伺服驱动平移并联机器人结构和控制方法进行分析,以机器人的末端执行器为基础,定义位置及角度坐标系,在此坐标系上计算并联机器人的逆向和正向运动学解;通过液压轴的伸长长度,求取液压轴的速度和加速度...

Research on Position Control of Translational Parallel Robot Based on Cross Coupling Control

In order to improve the accuracy of tracking the desired position of the translational parallel robot, a research on the integrated electro hydraulic servo driven translational parallel robot position control was presented based on cross coupling control. The structure and controlling means of the 3-DOF integrated electro hydraulic servo driven translational parallel robot were analyzed. Based on the end actuator of the robot, the position and angle coordinate system was defined, and the inverse and forward kinematics solutions of the parallel robot were calculated in this coordinate system. Through the extension length of the hydraulic shaft, the speed and acceleration of the hydraulic shaft were calculated, then the dynamic model of the integrated electro hydraulic servo driver was obtained. Based on the position error of the integrated electro hydraulic servo driver, the synchronization error of the integrated electro hydraulic servo driver under three degrees of freedom was obtained. Using the synchronization error, the cross coupling error model was constructed, then the generalized error model was obtained, and the cross coupling controller was established to control the position of the robot. The experimental results show that compared with particle swarm optimization method, the tracking accuracy of the proposed method is improved by 40% and 42.15% respectively when tracking sinusoidal and irregular expected positions. The proposed method can be used to accurately control the position of the translational parallel robot with integrated electro hydraulic servo drive.