Six-degree-of-freedom platform positioning control method

Abstract

The invention belongs to the field of mechanical automation and astronomy, and concretely discloses a six-degree-of-freedom platform positioning control method and equipment. The method includes the establishment of a simulation model and the control of a six-degree-of-freedom platform, by establishing and configuring the six-degree-of-freedom platform simulation model and parameters thereof, a six-degree-of-freedom platform PID control algorithm module based on forward kinematics solution is established in simulink, by combining a mechanical system dynamics automatic analysis model, the jointmotion simulation control is realized, and then the precise positioning control of the six-degree-of-freedom platform is realized. The method and the equipment based on the method realize the controladjustment of the six-degree-of-freedom platform based on the workspace control strategy, can realize the closed-loop feedback control of the platform positioning by using the forward kinematics based on the discrete Newton iterative solution, simplify the control algorithm and improve the positioning accuracy of the platform.

Description

technical field [0001] The invention belongs to the fields of mechanical automation and astronomy, and more specifically relates to a positioning control method for a six-degree-of-freedom platform. Background technique [0002] The six-freedom platform is also called the six-degree-of-freedom parallel robot. After decades of development, due to its high precision, high rigidity, and high load-bearing capacity, it has been widely used in various fields, such as motion simulators, active Vibration isolation, medical treatment, precision pointing, parallel machine tools, etc. Similarly, these characteristics of the six-degree-of-freedom platform can also meet the requirements of tight pointing and stable imaging of the telescope system. Compared with the rigid support structure of the traditional space telescope secondary mirror, the telescope secondary mirror adjustment mechanism based on the six-degree-of-freedom platform has the ability to move in space with six degrees of...

AI Technical Summary

Problems solved by technology

However, due to the inevitable mechanical errors in the outriggers and hinges, when the movement of only six outriggers is controlled to reach the target leg length, the actual pose of the motion platform will have corresponding positioning errors due to the mechanical errors of the outriggers and hinges. When correcting the mirror aberration of the secondary mirror of the telescope, it is often necessary to establish an error compensation model to compensate, thus increasing the complexity of the control system

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