Device and method for controlling three degree of freedom hybrid drive flexible cable parallel robot

Abstract

The invention discloses a device and method for controlling a three degree of freedom hybrid drive flexible cable parallel robot. The device comprises a flexible cable parallel robot, a main control industrial personal computer, a measurement industrial personal computer, a communication device, a programmable logic controller, a sensor and hybrid drive controllers, wherein the main control industrial personal computer is connected with the programmable logic controller through the communication device, the output ends of the hybrid drive controllers are connected with the flexible cable parallel robot, the flexible cable parallel robot is connected with the measurement industrial personal computer through the sensor, and the measurement industrial personal computer is connected with the main control industrial personal computer through the communication device. Measurement data is processed in real time by the measurement industrial personal computer and transmitted to the main control industrial personal computer through the communication device; the main control industrial personal computer, the programmable logic controller and the measurement industrial personal computer are communicated in a serial bus manner, and four groups of hybrid drive controllers can be controlled to realize coordinating winding and unwinding of four flexible cables and complete high-accuracy motion of space three-dimensional translation degree of freedom of the hybrid drive flexible cable parallel robot; and the device has the advantages of rapid response of a system, good stability and high accuracy.

Description

technical field [0001] The invention relates to a robot control device and method, in particular to a three-degree-of-freedom hybrid drive flexible cable parallel robot control device and method. Background technique [0002] The three-degree-of-freedom flexible cable parallel robot has important application value and can be used for lifting, processing, testing, assembly, handling and other operational tasks. In the patent document with the patent application number 200910233341.2, the "Spatial Three-Dimensional Translational Freedom Hybrid Drive Flexible Cable Parallel Mechanism" is disclosed. The hybrid drive flexible cable parallel robot mechanism is a simple structure that can complete large load operation and complex motion. A new type of flexible cable parallel robot with three-dimensional translational degrees of freedom in space to achieve high-performance motion output. Although the hybrid drive flexible cable parallel robot mechanism can complete the movement of ...

AI Technical Summary

Problems solved by technology

Although the hybrid drive flexible cable parallel robot mechanism can complete the movement of the robot heavy block, due to the characteristics of the robot system such as large inertia, multiple input and multiple output, nonlinearity, etc., and is perturbed by the parameters of the system model and the heavy block Due to the influence of external disturbances such as random wind during the movement, the flexibility, stability and accuracy of the hybrid drive flexible cable parallel robot are not perfect enough

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