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A Motion Planning and Control Method for Parallel Manipulator

A motion planning and control method technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as reducing the efficiency of work and consuming operator time, and achieve the effect of simple design, high precision and easy operation.

Active Publication Date: 2018-08-24
SUN YAT SEN UNIV
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  • Abstract
  • Description
  • Claims
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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.

Method used

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  • A Motion Planning and Control Method for Parallel Manipulator
  • A Motion Planning and Control Method for Parallel Manipulator
  • A Motion Planning and Control Method for Parallel Manipulator

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Embodiment Construction

[0022] The present invention will be further explained below in conjunction with the accompanying drawings. The accompanying drawings are for illustrative purposes only, and cannot be construed as limiting the present invention; in order to better illustrate this embodiment, some parts in the accompanying drawings will be omitted, enlarged or reduced; for those skilled in the art, certain parts in the accompanying drawings It is understandable that some well-known structures and descriptions thereof may be omitted.

[0023] Such as figure 1 A motion planning and control method of a parallel manipulator is shown, including: step 1, planning the expected motion trajectory of the end effector of the parallel manipulator, including the expected pose r of the end effector d and expected pose change rate Step 2: Calculate the corresponding parallel manipulator velocity layer kinematics relation according to the specific parallel manipulator parameters in is the length change ...

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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, in particular 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 connected in parallel through two or more branches, and it is a multi-channel closed-loop mechanism. Due to its high precision, small inertia, high rigidity, and high load-bearing capacity, the parallel manipulator has been valued and researched by the industry, and has successively developed the Stewart parallel manipulator and the Delta parallel manipulator with great application value. Motion planning and control of manipulator is one of the very important research contents in industrial application. [0003] At present, the motion planning and control method of parallel manipulator usually adopts PID method. PID method is the most widely used control method, because the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1623B25J9/1664
Inventor 张雨浓何良宇李帅丁亚琼陈德潮
Owner SUN YAT SEN UNIV
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