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Cooperative control method of Stewart platform

A collaborative control and platform technology, which is applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of uncoordinated telescopic length of electric cylinders and difficult control, and achieve the effects of improving synergistic effects, reducing deformation, and reducing joint burden

Active Publication Date: 2021-05-28
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to overcome the defects of the prior art, in order to effectively solve the technical problem that the telescopic length of each electric cylinder is not coordinated and difficult to control during the movement of the multi-degree-of-freedom Stewart parallel platform, and proposes a method based on cooperative control algorithm and active disturbance rejection control Stewart platform control method

Method used

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  • Cooperative control method of Stewart platform
  • Cooperative control method of Stewart platform
  • Cooperative control method of Stewart platform

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Experimental program
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Embodiment

[0042] In order to clearly describe the motion of the stewart, the kinematic modeling of the platform is performed first.

[0043] Such as figure 1 As shown in , put all the electric cylinders to the neutral position, that is, extend half of the full-scale length as the initial reference pose of the Stewart platform. Such as figure 2 As shown in , the line connecting the two adjacent endpoints farther away from the base platform is parallel to the viewing angle, and starting from the left point, mark the hinge point B clockwise. 1 , B 2 , B 3 , B 4, B 5 , B 6 , and the electric cylinders connected to it are respectively marked as P at the hinge point of the moving platform 1 ,P 2 ,P 3 ,P 4 ,P 5 ,P 6 , the hinge points of the base platform and the moving platform are denoted as B i ,P i .

[0044] Establish the base platform coordinate system O B -X B Y B Z B and moving platform coordinate system O P -X P Y P Z P , where the origin of the base coordinate...

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Abstract

The invention relates to a cooperative control method of a Stewart platform, and belongs to the technical field of parallel robot control. In an upper computer controller, a cooperative control algorithm is adopted, non-interactive control signals in each independent controller are coordinated as a whole, and the problems of position mismatching and over-fitting of electric cylinders in parallel platform pose control caused by different loads or other factors are solved. Meanwhile, an ADRC is adopted, the uncertainty of internal modeling is estimated, external disturbance is compensated, the control precision is improved to a certain degree, and the high-performance pose control requirement is met. According to the cooperative control method of the Stewart platform, the control precision can be improved, the cooperative effect of the electric cylinders in the transition process is improved, the problems of deformation and the like caused by unbalanced load distribution among the electric cylinders are reduced, the joint burden of the electric cylinders is relieved, the service life of the electric cylinders is prolonged, and economic benefits are improved.

Description

technical field [0001] The present invention relates to a parallel robot collaborative control method based on the principle of multi-agent collaborative control, in particular to a Stewart platform collaborative control method based on consistency and active disturbance rejection control, which is used to solve the problem of coordination between various intelligent bodies in a parallel structure The invention belongs to the technical field of parallel robot control. Background technique [0002] The Stewart platform is a parallel robot consisting of a surface supported by 6 independently driven arms. The Stewart platform was originally a device for simulating aircraft, which has the advantages of multiple degrees of freedom, high rigidity, high precision, and modular production. Since the 1990s, it has been used in the frame design of machine tools, and has gradually developed and become a hot spot. [0003] The parallel mechanism of the Stewart platform has the characte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0081B25J9/1602B25J9/1679
Inventor 汪首坤王亮王军政司金戈陈志华王修文
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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