摘要
并联机构运动学控制器忽略了复杂的非线性动力学关系,因此控制器的实际性能往往有限。为此,以提高并联机器人的操作精度为目标,针对2-DOF并联机构,通过建立机构的动力学数学模型及刚度矩阵,设计了计算力矩控制器。基于计算力矩控制器的模型由于考虑了非线性补偿而极大地提高了其控制品质。通过实验将设计的控制器应用到2-DOF并联机构,仿真和实验结果验证了算法的有效性和正确性。
In parallel mechanism kinematics controller,the complex nonlinear dynamics relationships are ignored,so the actual performance of the controller is often limited. For this,to improve the operation accuracy of parallel robot,aiming at the 2-DOF paral-lel mechanism,through establishing the dynamic mathematical model of mechanism and stiffness matrix,a computing torque controller was designed. Because in the model based on computing torque controller,nonlinear compensation was considered,so the control qual-ity was enhanced greatly. The designed controller was applied to the 2-DOF parallel mechanism,simulation and experimental results verified the correctness and effectiveness of the algorithm.
出处
《机床与液压》
北大核心
2014年第9期29-32,共4页
Machine Tool & Hydraulics
基金
北京市优秀人才培养基金资助项目(20051D0500201)
关键词
过驱动并联机构
非线性动力学特性
计算力矩控制
Overactuated parallel mechanism
Nonlinear dynamics characteristic
Computing torque control
