一种新的六自由度并联机器人分散控制方法

A new decentralized control for six degrees of freedom parallel robot

结合六自由度并联机器人机构的特点,提出一种新的分散控制方法.首先依据机构特点指出了关节空间内惯性矩阵块对角占优特性,从而将耦合强烈的邻近支路加以整体考虑,即分散控制3个两输入两输出子系统;然后将惯性矩阵的逆分解为块对角矩阵与耦合矩阵之和,从而得到每个子系统的动力学方程;最后针对子系统负载随机构运动而变化的特点引入线性变参数(LPV)控制方法,降低了使用线性定常控制器的保守性.仿真结果表明了所提出方法的有效性.

Coinciding with the manipulator＇s configuration, a new decentralized control method is proposed for six degrees of freedom parallel robot. The inertia matrix＇s block diagonal dominance is analyzed and the whole system is devided into three double inputs and double outputs （DIDO） subsystems. Thus the strong coupled struts are considered together for less conservativeness. The inverse of inertia matrix is decomposed into a block diagonal matrix and a coupled matrix, thus each subsystem＇s dynamic model is obtained. The linear parameter varying （LPV） control method is adopted for the DIDO subsystem according to the varying load, so the control strategy can exploit the dynamic model＇ s varying to have better performance than LTI control. Finally, simulation results show the effectiveness of the proposed approach.