6PTRT并联机器人空间对接的控制

The Space Docking Control of 6PTRT Parallel Robot

在6PTRT并联机器人应用于空间对接时的速度控制研究中,为实现要求的空间对接控制,首先对机器人速度曲线进行了理论规划,并通过逆解计算得到了各轴应移动的距离,从而计算各轴的最高点速度值,由此推导各轴的实际速度曲线,依据此速度曲线实现了六轴速度的协调控制.实验结果表明,此方法控制效果良好.

This paper introduced the speed control of space docking control of 6 PTRT parallel robot.In order to achieve space docking control,firstly,it included the curve-planning of speed curve in theory.Then by the inverse solution it got the displacement each axis should move and the highest rate of each axis in order to work out the actual speed curve of the axis.Finally,an experiment was done and the result shows that a good control effect can be achieved by that way.