A sliding mode control method and system for a parallel robot

A control method and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems affecting positioning control accuracy, delta parallel robot considerations, etc., and achieve the effect of improving positioning control accuracy

Active Publication Date: 2020-12-01
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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  • Abstract
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Problems solved by technology

However, the above control method does not consider the dynamics of the Delta parallel robot, so the inertia and gravity effects directly affect the positioning control accuracy

Method used

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  • A sliding mode control method and system for a parallel robot
  • A sliding mode control method and system for a parallel robot
  • A sliding mode control method and system for a parallel robot

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Embodiment Construction

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0060] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0061] figure 1 It is the flow chart of the sliding mode control method of the parallel robot in the embodiment of the present invention, figure 2 It is the sliding mode control structure diagram of the parallel...

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Abstract

The invention discloses a sliding mode control method and system of a parallel robot. Firstly, a dynamics model of the parallel robot is built; then, an anticipant motion trajectory is determined; a sliding mode control algorithm is adopted; a torque is determined according to the anticipant motion trajectory and the actual position and the actual speed of a terminal execution point of the parallel robot; the dynamics model of the parallel robot is controlled according to the torque to obtain joint space coordinates; finally, a dynamic model is obtained; the actual position and the actual speed of the terminal execution point of the parallel robot are updated according to the joint space coordinates and the dynamic model; and the step of determining the torque by adopting a sliding mode control algorithm according to the anticipant motion trajectory and the actual position and the actual speed of the terminal execution point of the parallel robot is returned to. The positioning controlprecision is improved based on dynamics control policies.

Description

technical field [0001] The invention relates to the technical field of trajectory tracking control, in particular to a sliding mode control method and system for a parallel robot. Background technique [0002] With its unique parallel structure, the high-speed Delta parallel robot realizes the advantages of fast movement speed, precise positioning, high work efficiency and low cost. It is widely used in industrial automatic production or packaging lines such as pharmaceutical packaging, food packaging and electronic products. Fast sorting, handling and assembly. At present, the performance of domestic Delta parallel robots is lower than that of foreign robots in all aspects. For example, there are still some key technologies of domestic Delta parallel robots that are not perfect, and the performance of controllers is not good enough to lag behind foreign technologies. [0003] Parallel robot is a multi-variable, complex structure, multi-parameter coupling, and multi-degree-...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/003B25J9/163
Inventor 苏婷婷何广平赵全亮赵磊贾涛鸣
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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