A collaborative control method for a stewart platform

A collaborative control and platform technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of uncoordinated and difficult control of the telescopic length of electric cylinders, and achieve high-performance pose control requirements and improve control accuracy. Effect

Active Publication Date: 2022-04-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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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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  • A collaborative control method for a stewart platform
  • A collaborative control method for a stewart platform
  • A collaborative control method for a stewart platform

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Experimental program
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Effect test

Embodiment

[0042] In order to clearly describe the motion of Stewart, the kinematic modeling of the platform is first carried out.

[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 s...

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Abstract

The invention relates to a collaborative control method of a Stewart platform, belonging to the technical field of parallel robot control. In the upper computer controller, the cooperative control algorithm is adopted to coordinate the non-interactive control signals in each independent controller to improve the position mismatch and the Overfitting problem. At the same time, the ADRC active disturbance rejection controller is used to estimate the uncertainty of internal modeling and compensate for external disturbances, which improves the control accuracy to a certain extent and meets the requirements of high-performance pose control. The present invention can improve the control precision, improve the synergistic effect of each electric cylinder in the transition process, reduce problems such as deformation caused by unbalanced load distribution between each electric cylinder, reduce the joint burden of each electric cylinder, and prolong the service life of the electric cylinder ,Improve economic efficiency.

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 Patents(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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