{"title":"三平移并联机器人控制系统设计与仿真","authors":"B. Long, Cui Guohua, Wang Liqing, Ma Jing","doi":"10.1109/ACIRS.2016.7556214","DOIUrl":null,"url":null,"abstract":"Two different control schemes about the control system and development of 3-UPU parallel robot research are proposed in this paper, which can realize three-dimensional translation. One of the schemes is using fuzzy PID control based on robot kinematics, the other is using the improved robust PI control based on robot dynamics. On the basis of the established simulation model of parallel mechanism based on MATLAB/Sim Mechanics, the simulation of the two control schemes is realized, and the simulation results are compared. The result shows that the improved robust PI control based on robot dynamics can track the trajectory of motion more quickly and accurately on the condition of friction and external loads and has a good stability and robustness at the same time. So, it is more suitable for the research and development of parallel robot control system.","PeriodicalId":364266,"journal":{"name":"2016 Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Control system design and simulation of three translational parallel robot\",\"authors\":\"B. Long, Cui Guohua, Wang Liqing, Ma Jing\",\"doi\":\"10.1109/ACIRS.2016.7556214\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Two different control schemes about the control system and development of 3-UPU parallel robot research are proposed in this paper, which can realize three-dimensional translation. One of the schemes is using fuzzy PID control based on robot kinematics, the other is using the improved robust PI control based on robot dynamics. On the basis of the established simulation model of parallel mechanism based on MATLAB/Sim Mechanics, the simulation of the two control schemes is realized, and the simulation results are compared. The result shows that the improved robust PI control based on robot dynamics can track the trajectory of motion more quickly and accurately on the condition of friction and external loads and has a good stability and robustness at the same time. So, it is more suitable for the research and development of parallel robot control system.\",\"PeriodicalId\":364266,\"journal\":{\"name\":\"2016 Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)\",\"volume\":\"44 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ACIRS.2016.7556214\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACIRS.2016.7556214","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Control system design and simulation of three translational parallel robot
Two different control schemes about the control system and development of 3-UPU parallel robot research are proposed in this paper, which can realize three-dimensional translation. One of the schemes is using fuzzy PID control based on robot kinematics, the other is using the improved robust PI control based on robot dynamics. On the basis of the established simulation model of parallel mechanism based on MATLAB/Sim Mechanics, the simulation of the two control schemes is realized, and the simulation results are compared. The result shows that the improved robust PI control based on robot dynamics can track the trajectory of motion more quickly and accurately on the condition of friction and external loads and has a good stability and robustness at the same time. So, it is more suitable for the research and development of parallel robot control system.
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