Parallel robot device with functions of fault tolerance and fault correction and fault tolerating and correcting method thereof

Abstract

The invention belongs to a parallel robot device with the functions of fault tolerance and fault correction and a fault tolerating and correcting method thereof. The device comprises a movable platform, a fixed platform and a driving leg thereof, a flexible rope connected with a displacement sensor and a tensioning spring in series, a transmission system and a control system containing a field programmable gate array (FPGA). The fault tolerating and correcting method comprises the following steps of state monitoring, fault diagnosis, fault positioning and fault tolerance and correction of a fault sensor. Because the flexible rope with the displacement sensor and the tensioning spring is additionally arranged between the centers of the movable platform and the fixed platform and an FPGA controller is adopted in the control system, the parallel robot device has the characteristics that on-line reconstruction and self maintenance can be carried out for the faults of a driving leg sensor, the parallel robot device has short reconstructing time, high speed and high reconstructing and self-maintaining efficiency of a system, and can ensure that a robot can normally work when the driving leg sensor generates the faults so that the working efficiency and the working and operating safety and reliability are effectively enhanced and the heavy losses caused by the sudden faults of the driving leg sensor can be avoided, and the like.

Description

technical field [0001] The invention belongs to the technical field of robot manufacturing, in particular to a four-degree-of-freedom parallel robot device with error tolerance and error correction functions and an error tolerance and error correction method for input faults of sensors of the robot. Background technique [0002] In order to achieve precise control of the position and speed of parallel robots, it is necessary to detect these physical quantities in real time through high-precision sensors, convert the detection results into digital quantities, and feed them back to the controller, and process these data through the controller. The result is used as the control quantity to control the servo motor, and then realize the precise closed-loop control of the movement of the robot. Therefore, the detection sensor plus the feedback link is an important part of the servo motor closed-loop control system. In the patent document with the application number 00105935.1, "A...

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Problems solved by technology

Although the invention has the advantages of easy motion positive and negative solutions, high rigidity, high precision, low motion quality, high dynamic performance, and simple structure; but because the PID controller itself does not have functions such as fault tolerance and data reconstruction; there is a lack of online self The ability to repair, once the sensor fails during the movement of the robot, it will cause the sensor to have no output or the output result is incorrect, which will cause the accuracy of position and speed control to decrease, and cause the loss of control of the parallel robot, leading to serious safety hazards. Defects such as accidents

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