六自由度平台机械臂建模与控制

2013 International Conference on Electrical Engineering and Software Applications Pub Date : 2013-03-21 DOI:10.1109/ICEESA.2013.6578432

M. Jouini, M. Sassi, N. Amara, A. Sellami

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引用次数: 6

摘要

本文研究了六自由度并联机器人的建模与控制问题。六自由度并联机械臂的数学模型包括基于拉格朗日方法的动力学模型。模型建立在广义坐标系下。运动学模型是基于闭式解的。后者在六个腿上有六个电动执行器。基于模型的控制器具有平台位置反馈。提出了机器人作动器位置的两种控制规律:PID控制和滑模控制(SMC)。仿真结果显示了该方法在鲁棒性方面的比较性能。

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Modeling and control for a 6-DOF platform manipulator

This paper deals with the modeling and the control of a parallel robot with six degree of freedom (dof). The mathematical model of the 6-DOF parallel manipulator includes dynamics model which is on the Lagrange method. The model is built in generalized coordinate system. The kinematics model is based on the closed-form solutions. The latter has six electric actuators at six legs. The model-based controller is presented with feedback of platform positions. Two control laws of the actuators positions of the robot are proposed: PID control and Sliding Mode Control (SMC). Simulation results are given to show the comparison performance in term of robustness.

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2013 International Conference on Electrical Engineering and Software Applications

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