摘要
研究一种二平动自由度高速、轻型并联机械手的控制技术 .针对这类机构的结构特点 ,利用虚位移原理和矩阵奇异值理论 ,估算出主动关节负载惯量随位形变化的规律 .在此基础上 ,构建了单轴误差反馈控制系统 ,并通过计算机仿真预估出定增益PID调节器的参数 .最后 ,通过实验验证了参数整定方法的正确性和有效性 .
The control method of a 2-DOF high-speed,light-weight parallel manipulator is presented in this paper. First,the inertia map in the work space is estimated by the use of virtual work principle and matrix singular value theory. On the basis of the above analysis,the single axis feedback control system suiting for the manipulator is designed. And the control parameters are produced by computer simulation and the method is validated by experiment.
出处
《机器人》
EI
CSCD
北大核心
2004年第1期63-68,共6页
Robot
基金
国家 8 63计划资助项目 (2 0 0 1AA42 1 2 2 0 )
关键词
并联机械手
伺服控制
参数整定
parallel manipulator
servomotor control
parameters determining
