1results about How to "Eliminate mutation" patented technology

The application discloses a mobile parallel robot with high-load pointing positioning function and a control method, and the robot comprises a three-wheeled vehicle body, three universal wheels and a vehicle leveling device are installed on the outer wall of the vehicle body, a space posture adjusting device is installed on the upper surface of the vehicle body, a force sensor top plate is installed on the top of the space posture adjusting device, and a force sensor and a moving platform are installed on the upper surface of the force sensor top plate. The control method comprises the following steps: establishing an institution and a universal wheel inverse solution; solving a second derivative to obtain acceleration information; obtaining human-machine interaction force signals from the force sensor and carrying out denoising processing; extracting state characteristics and initializing adaptive parameters; combining layered adaptive admittance control of state characteristics; designing a gradient optimization evaluation function; and controlling and driving motors. The method effectively overcomes fluctuations and disturbances under high-load working conditions, and realizes high-precision pointing positioning and smooth motion control of the robot.