摘要
研究了六维减振平台主体机构6-RSS并联机器人机构与控制的性能优化目标函数,提出了机构和控制同步优化的方法,并通过构造滑模控制器与进行参数敏度分析,合理有效地实现了非线性系统的模型线性化,得到了六维减振系统性能最优的机构与控制的参数,并通过数值仿真来验证同步优化的有效性.
A integrated optimal design method is presented based on structure and control,the optimization objective function of 6-RSS parallel mechanism of six dimension vibration absorber is studied.By constructing the sliding mode controller and the parameter sensitivity analysis,the linearization model of nonlinear system is realized rationally and effectively,the optimal variables of the structure and control of six dimension vibration absorber system are obtained.And the numerical simulation results show the validity of the integrated optimal design.
出处
《河南工程学院学报（自然科学版）》
2010年第4期42-46,共5页
Journal of Henan University of Engineering：Natural Science Edition
关键词
6-RSS并联机器人
同步优化
滑模控制
敏度分析
非线性机构
6-RSS parallel mechanism
integrated optimal design
sliding mode control
sensitivity analysis
nonlinear system
