冗余并联机构的实时正运动学算法

2021 7th International Conference on Mechanical Engineering and Automation Science (ICMEAS) Pub Date : 2021-10-01 DOI:10.1109/icmeas54189.2021.00011

Fujun Kou, Yiping Chen, Weiya Liu, Zhixue Liu

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引用次数: 0

摘要

提出了一种基于运动学的冗余并联机构自由度控制方法。冗余并联机构的控制精度在很大程度上取决于运动学精度。一般情况下，正运动学实时性差会导致冗余并联机构的性能精度降低。为了提高正运动学的精度和实时性，提出了一种基于闭环实时反馈的新算法。仿真结果表明，所提出的正运动学方法能够应用于工程实践。

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Real-Time Forward Kinematics Algorithm for Redundant Parallel Mechanism

A kinematics-based degree-of-freedom control method for a redundant parallel mechanism is presented in this paper. The control accuracy of the redundant parallel mechanism depends on the accuracy of kinematics to a great extend. Generally the poor real-time performance of the forward kinematics would make the performance of the redundant parallel mechanism less accurate. A brand new kind of algorithm based on closed-loop real-time feedback is proposed to improve the accuracy and the real-time performance of the forward kinematics. The simulation results show that the proposed forward kinematics is capable of be applied to engineering practice.

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2021 7th International Conference on Mechanical Engineering and Automation Science (ICMEAS)

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