Motion planning and control method of parallel connection mechanical arm

Abstract

The invention provides a motion planning and control method of a parallel connection mechanical arm. The method comprises the following steps of 1, planning the expected motion track of a tail end executer of the parallel connection mechanical arm; 2, calculating a corresponding parallel mechanism arm speed layer kinematics relationship expression according to a concrete parallel connection mechanical arm parameter; 3, building an error function on the basis of the first step and the second step, and calculating the corresponding length variation rate of each driving rod through combining the kinematics; 4, transmitting the result solved in the third step to a lower computer to drive the mechanical arm to move. The method has the advantages that the problem that the parameter is difficult to determine in the prior art is solved; in addition, the tracks of the tail end executer can be effectively controlled; the operability is high; good application prospects are realized in the engineering field.

Description

technical field [0001] The invention relates to the field of motion planning and control of parallel manipulators, and more specifically relates to a motion planning and control method of parallel manipulators. Background technique [0002] The parallel manipulator is composed of a moving platform and a static platform through two or more branches in parallel, which is a multi-channel closed-loop mechanism. Because of its high precision, low inertia, high stiffness, and high bearing capacity, the parallel manipulator has received attention and research in the industry, and has successively developed Stewart parallel manipulators and Delta parallel manipulators with great application value. The motion planning and control of the manipulator is one of the most important research contents in industrial applications. [0003] At present, the motion planning and control method of the parallel manipulator usually adopts the PID method. The PID method is the most widely used cont...

AI Technical Summary

Problems solved by technology

But the disadvantage is that the adjustment of the three parameters of the PID method has not been effectively solved for a long time. The setting of these three parameters often consumes a lot of time for the operator and reduces the efficiency of work.

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