六自由度并联机器人输出解耦控制

Output Decoupling control of 6-DOF Parallel manipulator

六自由度并联机器人是一个非线性多输入多输出系统,各自由度运动输出之间存在耦合.利用反馈线性化和PD控制,仅实现了平移运动间的解耦,而旋转运动之间仍然存在耦合作用.为实现并联机器人运动输出间的完全解耦,在反馈线性化控制的基础上,设计了一种新的解耦控制器,利用该控制器可以进一步实现并联机器人的旋转输出解耦,同时,给出了控制器解耦性能的仿真验证.

6 - DOF Parallel manipulator is a pied. Using feedback linearization and linear nonlinear MIMO system, and its pose outputs are strongly cou-PD control, only translational motions are decoupled and the rotational motions still exist couplings. To fully decouple the outputs of parallel manipulator, a new decoupling controller based on feedback linearization is presented. Using this controller, rotational motions as well as translational motions are decoupled, and the effectiveness of the decoupling controller is validated through simulation.