Forward dynamic and inverse dynamic response analysis and control method of parallel robot

A technology of inverse dynamics and response analysis, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as low efficiency, inability to obtain analytical solutions, and unfavorable system controller design.

Inactive Publication Date: 2013-07-10
HUNAN UNIV AISHENG AUTO TECH DEV
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Problems solved by technology

However, there are still the following problems: (1) The calculation process of this method depends on the Lagrangian multipliers, and the analytical solution cannot be obtained; (2) The numerical solution obtained by the numerical calculation method needs to converge after many iterations to obtain the solution. Bad for system controller design
Due to the disadvantages of slow speed, low efficiency, and inability to obtain all possible solutions in numerical calculation, it is hoped that analytical methods can be used to solve the closed solutions of parallel robot mechanisms

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  • Forward dynamic and inverse dynamic response analysis and control method of parallel robot
  • Forward dynamic and inverse dynamic response analysis and control method of parallel robot
  • Forward dynamic and inverse dynamic response analysis and control method of parallel robot

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Embodiment Construction

[0057] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0058] Although there are various structures of parallel robots, the most common one in practical applications is the Steward platform mechanism and its evolution. In the present embodiment, use a kind of U-P-S Steward-Gough platform (referring to Figure 4 and Figure 5 ) for detailed description, other parallel robots can also be analyzed according to the above method. see image 3 , Figure 6 , Figure 7 As shown, the specific process is as follows:

[0059] 1. Decompose the Steward-Gough platform. Decompose the Steward-Gough platform into 7 subsystems, including 6 linkage subsystems and 1 motion platform subsystem, see Figure 5 .

[0060] 2. Determine the dynamic equations of each branch chain (connecting rod) subsystem. The dynamic equations of the subsystems of six branch chains (connecting rods) are respectively estab...

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Abstract

A forward dynamic and inverse dynamic response analysis and control method of a parallel robot comprises the steps of (1) disassembling the parallel robot, namely selecting a generalized coordinate system or a user-defined coordinate system to consider each branch chain and each movable platform of the parallel robot as s subsystems which are mutually independent; (2) determining a dynamical equation of subsystems of each branch chain; (3) determining a dynamical equation of subsystems of each movable platform; (4) determining a constraint equation; (5) obtaining a forward dynamic equation through analysis; (6) obtaining an inverse dynamic equation through analysis; and (7) determining control force of a controller. The forward dynamic and inverse dynamic response analysis and control method of the parallel robot has good model sharing performance, and a dynamic unite analytical method is provided for complicatedly restrained parallel robot systems.

Description

technical field [0001] The present invention mainly relates to the technical field of robot control, in particular to a dynamic response analysis and control method of a parallel robot, especially suitable for dynamic analysis of a parallel robot system with complex closed-loop constraints, including forward dynamics and reverse dynamics Response analysis method and used to guide its controller design. Background technique [0002] The strict definition of a parallel robot mechanism is: the upper and lower platforms are connected by two or more branches, the mechanism has two or more degrees of freedom, and the mechanism is driven in parallel (see figure 1 and figure 2 ). From a structural point of view, it is a mechanism with two platforms connected by multiple struts in the middle. One of the platforms is fixed on the reference coordinate system or base, which is called a fixed platform, and the other platform can move arbitrarily in its working space, called a motion ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/00
Inventor 黄晋黄清敏成艾国王彬
Owner HUNAN UNIV AISHENG AUTO TECH DEV
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