摘要
并联机器人控制问题一直以来都是一个开放领域。在这方面的研究还比较少。文中以6—UPS 型Stewart 平台为研究对象,利用牛顿—欧拉方法建立了并联机器人的动力学模型,并提出了基于控制法则的动力学分解方法,推导出并联机器人的控制率方程,设计了基于动力学模型的控制器。采用 PID 校正方法对并联机器人的轨迹进行跟踪,给出了运动平台做圆周运动时轨迹跟踪曲线,仿真实验结果表明,轨迹跟踪效果比较理想,控制方案是正确的。为进一步的并联机器人控制及性能改进奠定了良好的基础。
Control of the parallel platform manipulator is almost an open field and the words reported are not rigorous. The 6-UPS Stewart platform was chosen in this paper for study.The dynamic function of the parallel platform was set up by applying theNewton-Euler method.A controller was deduced based on the control law.Trajectory tracking of the parallel platform was controlled by the PID control method.The trajectory tracking of the cycle performance was given,the simulation result illustrate that the design of the controller is right and the trajectory tracking control on the parallel platform is effective.So it can provide theoretical bases for the further control and performance improvement.
出处
《弹箭与制导学报》
CSCD
北大核心
2005年第SD期928-930,共3页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
并联机器人
动力学与控制
轨迹跟踪
parallel manipulator
dynamics and control
trajectory tracking
