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A trajectory tracking control method for parallel robots based on exponential reaching rate

An exponential approach rate and trajectory tracking technology, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of inconvenient control and low control accuracy of parallel robots

Active Publication Date: 2022-03-25
CHONGQING COLLEGE OF ELECTRONICS ENG
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Problems solved by technology

[0004] The purpose of the present invention is to provide a parallel robot trajectory tracking control method based on exponential approach rate, to solve the problem of low control accuracy and inconvenient control of existing parallel robots

Method used

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  • A trajectory tracking control method for parallel robots based on exponential reaching rate
  • A trajectory tracking control method for parallel robots based on exponential reaching rate
  • A trajectory tracking control method for parallel robots based on exponential reaching rate

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Embodiment

[0051]A trajectory tracking control method for parallel robots based on exponential approach rate, basically as attached figure 1 shown, including the following steps:

[0052] S1. Establish the generalized coordinate system of the parallel robot system as the parameter of the Lagrangian function, calculate the kinetic energy and potential energy of the parallel robot system based on the parameter of the Lagrangian function and obtain the Lagrangian quantity;

[0053] The parallel robot system includes a connecting rod, a moving platform and a fixed platform, and a rotary joint that is arranged at the end of the connecting rod and is connected with the moving platform and the fixed platform respectively; in this embodiment, the connecting rod, the moving platform and the fixed platform The parallel robot system composed of platforms has six groups of the same hydraulic drive servo system, so n=6, each group of hydraulic drive servo system includes power amplifier, electro-hydr...

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Abstract

The present invention relates to the technical field of robot intelligent control, in particular to a trajectory tracking control method for a parallel robot based on an exponential approach rate, comprising the following steps: S1, establishing a coordinate system of the parallel robot system, and calculating the kinetic energy and potential energy of the parallel robot system; S2. Introduce the calculation results of step S1 into the Lagrangian equation to establish a dynamic model of the parallel robot system; S3. Take the power amplifier, electro-hydraulic servo valve, hydraulic cylinder and its load as generalized control objects to establish the dynamic model of the parallel robot system Hydraulic servo system model; S4. Using the exponential approach rate control algorithm in the synovial film control as the trajectory tracking control algorithm of the dynamic model and the hydraulic servo system model, the trajectory tracking control of the parallel robot is performed. The invention solves the problems of low control precision and inconvenient control of the existing parallel robot.

Description

technical field [0001] The invention relates to the technical field of robot intelligent control, in particular to a trajectory tracking control method for a parallel robot based on an exponential approach rate. Background technique [0002] With the development of robot structure, the types of industrial robots are becoming more and more extensive. From the perspective of robot mechanism, they can be divided into three categories: serial robots, parallel robots, and series-parallel hybrid hybrid robots. A parallel robot refers to a closed-loop robot driven in parallel with a moving platform and a fixed platform connected by at least two independent kinematic chains. The mechanism has two or more degrees of freedom. Parallel robots and traditional industrial serial robots form a complementary relationship in application. It is a closed motion chain. Compared with serial robots, it generally consists of an up and down motion platform and two or more motion branch chains. The ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 陈珊珊
Owner CHONGQING COLLEGE OF ELECTRONICS ENG
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