Rapid terminal sliding mode synchronous control method for rope traction parallel robot

Abstract

The invention discloses a rapid terminal sliding mode synchronous control method for a rope traction parallel robot. The method comprises the following steps: step 1, establishing a kinematics equation of the rope traction parallel robot; step 2, establishing an overall dynamic model according to the kinematics equation; step 3, setting each rope length tracking error according to the overall dynamic model, and setting each rope length synchronization error, tracking error and coupling error according to each set rope length tracking error; 4, setting a sliding mode surface for controlling the finite time convergence of the coupling error of each rope length; 5, setting a sliding mode surface reaching law according to each rope length coupling error and the sliding mode surface, and determining a fast terminal sliding mode synchronous control law according to the sliding mode surface, the sliding mode surface reaching law and the overall dynamic model; and step 6, performing synchronous control on motors for driving the ropes according to the fast terminal sliding mode synchronous control law, so that the movable platform connected with the ropes moves along a given expected track. The method can improve the motion control precision of the rope traction parallel robot.

Description

technical field [0001] The invention relates to the field of control of a rope-drawn parallel robot, in particular to a method for synchronous control of a rapid terminal sliding mode of a rope-drawn parallel robot. Background technique [0002] Thanks to the special structure of the rope traction, the rope traction parallel robot is a kind of parallel robot with high speed, low inertia and large working space, and its performance depends on the accuracy of the dynamic model. However, in reality, there are machining errors, unmodeled dynamics and other influencing factors, and some dynamic parameters of the robot are time-varying during the motion process (such as friction coefficient). At the same time, during the movement of the parallel robot pulled by the rope, the rope can only generate pulling force but not thrust. Therefore, considering the complex model uncertainty and the tension constraints of the rope traction parallel robot, there is an urgent need for a control...

AI Technical Summary

Problems solved by technology

However, these methods rarely involve the multi-rope synchronous traction characteristics of the rope-pulled parallel robot in the experimental process, and the error convergence speed in the control process is also difficult to guarantee.

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