一种带干扰力补偿的液压并联机器人MRACS

A HYDRAULIC PARALLEL MANIPULATOR MRACS WITH INTERFERENCE FORCE COMPLEMENT

本文依据６－ＤＯＦ液压并联机器人特点，对其液压主动关节提出了一种带干扰力补偿的且只用系统输入输出检测量，不用其他导数状态量，实时计算量小，易于工程实现的ＭＲＡＣＳ．文中对所给ＭＲＡＣＳ进行了多种情况的仿真研究和对系统干扰力补偿算法及实现进行了详细的论述，仿其与分析结果表明：文中系统稳定可靠，且具有良好的跟踪精度。

Based on 6-DOF hydraulic parallel manipulator, the paper presents a MRAcs with interference force complement to lts hydraulic main links。The MRACS only uses system input and output measures,does not use other differential state measures, and the system only uses less reaItime control calculation measures。Therefore, the MRACS can be realized in practical application, The different situation simulation study for the presented M RAcS,the system interference force complement calculation and its realization are intro duced in detail in this paper.Simulation and analysis resuIts show that the MRACS is reliable, stable and accurate。