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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
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  • Abstract
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  • Application Information

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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

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  • 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

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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...

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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

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Application Information

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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
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