Six-freedom parallel robot decoupling method

Abstract

The invention provides a six-degree-of-freedom parallel robot decoupling method. The input signal of the six-degree-of-freedom parallel robot is an attitude signal, and the expansion range of an actuator is obtained by the inverse kinematics, and the control actuating quantity of the six-degree-of-freedom parallel robot is obtained by the action of a controller, and then the movement of the six-degree-of-freedom parallel robot can be driven, thus realizing the displacement closed loop of the actuator. The expansion range of the actual displacement of the actuator of the six-degree-of-freedom parallel robot is the actual attitude feedback quantity of the six-degree-of-freedom parallel robot by the forward kinematics. The invention is to conduct the output decoupling of the sinusoidal motion of the six-degree-of-freedom parallel robot, and to enhance the control accuracy of the parallel robot, thus improving the control results of the parallel robot. The invention facilitates the realization of computer digital control and has the advantages of high-degree automation, and high real-time performance. The method can be also used in the output decoupling of the parallel robot lower than six-degree-of-freedom.

Description

(1) Technical field [0001] The invention relates to a control method of a parallel robot, in particular to a method for decoupling the pose output of a six-degree-of-freedom parallel robot when it performs sinusoidal motion. (2) Background technology [0002] In 1965, Stewart's famous article on parallel mechanisms was published in the British journal IMechE. Stewart proposed the use of 6-DOF parallel mechanism for the motion system of flight simulators, which has aroused widespread concern in the academic community. [0003] The parallel robot has the characteristics of compact structure, high rigidity, large carrying capacity, small inertia, simple motion inversion model, and easy control, so it is very suitable for heavy load, fast and high-precision applications. Since the parallel robot was proposed, due to its remarkable characteristics, its application fields have been quite extensive, mainly including motion simulation, robot manipulator, micro-motion mechanism, par...

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Problems solved by technology

At the same time, it also pointed out that the main characteristic of computational torque control is its poor robustness and sometimes even unstable

Moreover, the calculation of torque control requires real-time calculation of the dynamics of the parallel robot, and the amount of calculation is large, which brings difficulties t

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