Feed-forward control method and device for parallel processing robot

A feed-forward control and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as control lag of parallel processing robots, improve dynamic tracking performance and dynamic tracking accuracy, improve processing accuracy and production quality, The effect of improving the response rate

Active Publication Date: 2021-07-13
TSINGHUA UNIV
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] The embodiment of the present application provides a feedforward control method and device for a parallel processing robot, which is used to solve the technical problem of control lag caused by feedback control of a parallel processing robot

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Feed-forward control method and device for parallel processing robot
  • Feed-forward control method and device for parallel processing robot
  • Feed-forward control method and device for parallel processing robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0105] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0106] It should be pointed out that the parallel processing robots described in this application include:

[0107] fixed platform;

[0108] Several branch chains matched with the fixed platform;

[0109] A moving platform connected with the plurality of branch chains.

[0110] The parallel processing robot operates with a parallel mechanism. The pa...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a feed-forward control method and device for a parallel processing robot. The technical problem of control lag caused by feedback control of the parallel processing robot is solved. According to the feed-forward control method for the parallel processing robot, the power parameters of the parallel processing robot are identified step by step, and an accurate dynamic model is obtained. On the basis of a dynamic model, feedforward control is added on the basis of three-ring PID control, the control lag amount caused by time-varying loads is reduced, and therefore the response rate of the machining robot is increased, and good control performance is obtained.

Description

technical field [0001] The present application relates to the field of robot parallel mechanisms, in particular to a feedforward control method and device for a parallel processing robot. Background technique [0002] In key technical fields such as aerospace, energy, and mold manufacturing, there are a large number of complex curved surface parts, such as wind turbine blades, turbine blisks, and aerospace structural parts. These parts usually have complex surface features, high material removal rate, and high processing quality requirements. [0003] In order to complete the processing of such parts, processing equipment is required to have the ability of compound angle processing and efficient processing. The traditional processing equipment is developed based on the series mechanism. This type of processing equipment has the advantages of simple structure and large working space. As a complementary form of the series mechanism, the parallel mechanism realizes the transm...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/00B25J9/08
CPCB25J9/003B25J9/08
Inventor 谢福贵刘辛军解增辉汪劲松
Owner TSINGHUA UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap