基于模型的六自由度并联机器人控制

2009 International Asia Conference on Informatics in Control, Automation and Robotics Pub Date : 2009-02-01 DOI:10.1109/CAR.2009.72

Chifu Yang, Qitao Huang, Jingfeng He, Hongzhou Jiang, Junwei Han

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引用次数: 6

摘要

提出了一种新型的六自由度并联机构模型控制方法，以消除平台负载变化对并联机构的影响，使并联机构的稳态误差收敛于零。本文将6-DOF并联机器人描述为多刚体系统，在广义坐标系下建立了6-DOF并联机器人的数学模型，包括基于Kane法的动力学模型和基于Newton-Raphson法的运动学模型。基于模型的控制器以平台气缸位置、期望轨迹和动态重力反馈为输入，伺服阀电流为输出。分析了六自由度并联机器人控制方案的性能。在MATLAB/Simulink中对基于模型的并联机器人进行了仿真，仿真结果表明，基于模型的控制器可以减小平台负载变化的影响，消除六自由度液压驱动并联机器人的稳态误差。

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Model-based Control for 6-DOF Parallel Manipulator

A novel model-based controller for six-degree-of- freedom (DOF) parallel manipulator is proposed in this paper, in order to abatement the influence of platform load variety and compel the steady state errors converge to zero. In this paper, 6-DOF parallel manipulator is described as multi-rigid-body systems, the mathematical model of the 6-DOF parallel manipulator including dynamics based on Kane method and kinematics used closed-form solutions and Newton-Raphson method is built in generalized coordinate system. The model-based controller is presented with the feedback of cylinders positions of platform, desired trajectories and dynamics gravity as the input and the servovalve current as its output. The performance of the control scheme for 6-DOF parallel manipulator is analyzed. Simulation of the parallel manipulator with model-based controller is executed in MATLAB/Simulink, the simulation results indicate the model-based controller can reduce the influence of load variety of platform and eliminate steady state error of 6-DOF hydraulic driven parallel manipulator.

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来源期刊

2009 International Asia Conference on Informatics in Control, Automation and Robotics

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