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Parallel robot motion control method with fast response and robust performance

A technology for robot motion and rapid response, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of poor robust performance, insufficient response performance, and low motion accuracy.

Active Publication Date: 2015-12-09
TSINGHUA UNIV
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art, and propose a parallel robot motion control method with fast response and robust performance, which is mainly used to solve the existing problems in the motion process of the existing control method of parallel robots. Insufficient response performance, poor robustness, low motion accuracy, etc.

Method used

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  • Parallel robot motion control method with fast response and robust performance
  • Parallel robot motion control method with fast response and robust performance
  • Parallel robot motion control method with fast response and robust performance

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Embodiment

[0083] The proposed motion control method of a parallel robot with fast response and robust performance is applied to a parallel robot with two degrees of freedom in space. The parallel robot is as follows: figure 1 As shown, the robot drives the movement of the terminal movable platform 3 through the movement of the first slider 1 and the second slider 2, the first slider 1 and the second slider 2 are driven by corresponding motors, and the movable platform 3 and the first slider The blocks 1 are connected through the first rod 4, the moving platform 3 and the second slider 2 are connected through the second rod 5, and the moving platform 3 and the static platform 6 are also connected through the third rod 7. The implementation steps of the control method of this embodiment are as follows: 1), the ideal displacement solution of each drive shaft:

[0084] The working space of the parallel robot controlled by this embodiment is α∈(-45° 45 °), β∈(-45°45°), where α, β are tradit...

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Abstract

The invention discloses a parallel robot motion control method with fast response and robust performance, which belongs to the field of electromechanical control. The method comprises steps: an ideal displacement instruction for each driving shaft is obtained through inverse solution according to a parallel robot expected trajectory; and a fractional order PDmu controller is used to ensure a control system to be stable and have a quick response ability through selecting an ideal cutoff frequency, a phase margin and a robust design criterion. During the motion process, a grating ruler is used for feeding back the actual motion state of each driving shaft, the PDmu controller gives the motion control amount according to the ideal displacement instruction and the feedback state, and the motion control amount is sent to a motor driver to drive the motor to rotate. In addition, a dynamic model for the parallel robot is built, a driving torque command is obtained according to the model, the driving torque command sends a compensation signal to a driver through a dynamic feedforward compensation controller, disturbance torque of the parallel robot during a linkage process is compensated, system robustness is enhanced, and the parallel robot can be ensured to complete planning motion.

Description

technical field [0001] The invention belongs to the technical field of electromechanical control, and in particular relates to the control problem in the practical process of a parallel robot. Background technique [0002] Compared with traditional serial robots, parallel robots have higher motion speed, acceleration, load-to-mass ratio, and better rigidity. They have been widely used in industrial fields. Typical applications include: machine tools, conveyors, fast picking robots, Medical robots, support structures for large radio telescopes. With the continuous development of parallel robots, higher requirements are put forward for their motion indicators and accuracy. However, in the actual use process, parallel robots have problems with low motion accuracy, and even vibration, steady state, etc. Errors seriously restrict the popularization and application of parallel robots. [0003] Parallel robot is a complex electromechanical system. Due to the structural characteri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 吴军王立平王冬李铁民陈晓磊
Owner TSINGHUA UNIV
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