三自由度并联机器人的同步组合控制

Synchronized combined control for a 3-DOF parallel manipulator

针对三自由度平面P-R-R型并联机器人,建立了三自由度并联机器人的动力学模型,结合同步控制的优点,实现了对机器人轨迹的精确控制.为了达到同步控制,提出了同步误差的概念,通过组合多个线性闭环控制,计算出同时满足各个闭环控制的控制方程.该方法直观、高效,提高了对并联三自由度平面P-R-R型并联机器人轨迹控制的精度,也同时满足了多个闭环控制系统的组合控制.

Dynamic model of three degree-of-freedom （3-DOF） parallel manipulator was founded. Also, an effective synchronized combined controller was proposed. The method could control accurately the trajectory tracking of a 3-DOF parallel manipulator. In obder to obtain the synchronized control, the concept of synchronization error was given. Furthermore, closed-loop equations were derived by combining multiple linear controllers. The method is straightforward and efficient, and it can not only improve the tracking accuracy but also satisfy combined control with multiple closed-loop systems.