Dynamic model parameter identification based parallel robot control method

A dynamic model and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the difficulties of dynamic model parameter identification, the limited effective working space of the end effector, and the inaccurate control accuracy of parallel robots. advanced questions

Active Publication Date: 2013-04-10
UNIV OF SCI & TECH OF CHINA
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Problems solved by technology

[0005] For the closed-loop constraints of multiple kinematic chains for parallel robots, and the effective working space of the end effector is limited, it is very difficult to design excitation trajectories and identify dynamic model parameters, and it is impossible to accurately identify all dynamic model parameters. Parallel robot control In order to solve the problem of low precision, the present invention provides a control method based on the identification of dynamic model parameters to realize the motion control of parallel robots. The identification method of dynamic model parameters used in this method can uniformly realize the excitation trajectory in the workspace optimization and identification of kinetic model parameters

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  • Dynamic model parameter identification based parallel robot control method
  • Dynamic model parameter identification based parallel robot control method

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Embodiment

[0101] The method of the present invention is illustrated below through a specific embodiment.

[0102] In this embodiment, it is first necessary to establish a dynamics model of the parallel robot, and convert the model into a form of weighted least square equation. On the basis of the weighted least squares equation, the calculation of the optimal excitation trajectory can be based on the optimization criterion get. The variance of the moment measurements can be estimated according to equation (15) given earlier, giving and Thus the matrix Λ=diag{2.17, 1.05} is obtained. The minimum value of the optimization criterion J is obtained after 35 iterations of nonlinear optimization, and at this time, the minimum value of the optimization criterion J=-101.139 is obtained.

[0103] By using the optimization criterion J, the parameter optimization results of the excitation trajectory defined by equation (14) are shown in Table I, and the corresponding trajectory is called the...

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Abstract

The invention provides a parallel robot control method which comprises the following steps: S1, building a dynamic model of a parallel robot; S2, establishing a least square equation used for describing dynamic parameter identification according to the dynamic model of the parallel robot; S3, establishing an optimization criterion of a motivation track according to the least square equation, and describing a mathematical model of the motivation track with the adoption of finite fourier series; S4, controlling the parallel robot to take an optimal motivation track as the expected motion track, and measuring and calculating a practical motion track; S5, identifying dynamic model parameters with the utilization of an identification algorithm and the practical motion track; and S6, controlling the motion of the parallel robot based on the identification dynamic model. The dynamic model parameter identification based parallel robot control method is capable of enabling the precise and intact dynamic model to be established, and precisely controlling the motion of the parallel robot.

Description

technical field [0001] The invention relates to a control method of a robot system, in particular to a control method of a parallel robot based on dynamic model parameter identification. Background technique [0002] A parallel robot refers to a robot that contains multiple kinematic chains between the base and the end effector. Due to the multiple kinematic chains, the mechanical structure of the parallel robot is much more complicated than that of the traditional serial robot, which makes the kinematics and dynamics of the parallel robot very complicated, and the coordinated operation of the end effector movement by multiple kinematic chains , it poses a challenge to the motion control of parallel robots. When performing precise motion control on a parallel robot, it is often necessary to use an accurate dynamic model for control. The dynamic model of the parallel robot describes the relationship between the motion of the parallel robot and the torque of each joint, whic...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 尚伟伟丛爽
Owner UNIV OF SCI & TECH OF CHINA
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