Delta并联机器人非线性工作空间下轨迹插补算法

Trajectory Interpolation Algorithm for Delta Parallel Robot in Nonlinear Working Space

为了提高Delta并联机器人运动控制精度,对其工作空间内非线性分布和轨迹插补算法进行了研究。基于仅考虑算法误差前提下,提出了通过选择Delta并联机器人单步插补位置误差最小的精度最优算法。基于机器人运动性能指标下的快速性和精确性,分析对比机器人传统插补算法和精度最优算法各自性能指标,最后通过Matlab平台仿真测试了算法的可行性,结果表明精度最优控制算法在整个机器人可达工作空间内都能有效提高机器人运动控制精度,控制效果要优于传统PVT控制方法。

In order to improve the accuracy of motion control of Delta parallel robot, the non-linear distribution and path interpolation algorithm in its work space are studied. In only considering error of the algorithm premise, the precision optimal algorithm by choosing minimum error of single step interpolation position of Delta parallel robot is proposed. Based on the rapidity and accuracy under motion performance index of the robot, the performance index of the traditional interpolation algorithm and precision optimal algorithm is analyzed and compared. Finally, the feasibility of the algorithm is tested through Matlab simulation platform, and the results show that the precision optimal control algorithm can effectively improve the precision of the robot motion control in the whole work space where the robot can arrive and its control effect is better than traditional method of PVT control.