文档介绍：Model-based Control for 6-DOF Parallel Manipulator
基于模型的控制六自由度并联机器人
Abstract
摘要
A novel model-based controller for six-degree-of-freedom (DOF) parallel manipulator is proposed in this paper,in order to abatement the influence of platform load variety pel the steady state errors converge to zero
一种新的基于模型的控制器的六自由度并联机器人(自由度)提出,以便消除影响平台负载的品种和迫使稳态误差收敛到零
In this paper, 6-DOF parallel manipulator is described as multi-rigid-body systems, the mathematical model of the 6-DOF parallelmanipulator including dynamics based on Kane method and kinematics used closed-form solutions and Newton-Raphson method is built in generalized coordinate system.
在本文中,六自由度并联机器人被描述为多刚体系统,数学模型的六自由度并联机器人基于凯恩方法包括动力学和运动学使用封闭形式的解决方案和牛顿迭代法是建立在广义坐标系统。
The model-based controller is presented with the feedback of cylinders positions of platform, desired trajectories and dynamics gravity as the input and the servovalve current as its output.
基于模型的控制器是与气缸位置反馈平台,所需的轨迹和动态重力作为输入和输出的伺服阀电流。
The performance of the control scheme for 6-DOF parallel manipulator is analyzed. Simulation of the parallel
manipulator with model-based controller is executed in MATLAB/Simulink, the simulation results indicate the model-based controller can reduce the influence of load variety of platform and eliminate steady state error of 6-DOF hydraulic driven parallel manipulator.
性能的六自由度并联机器人控制方案分析。模拟的并行机器人控制器中执行基于模型仿真,仿真结果表明,基于模型的控制器可以减少的影响,负荷变化的平台和消除稳态误差的液压驱动六自由度并联机器人。
Keywords
关键词
parallel manipulator; model-based control; dynam–ics; kinematics
并联机器人;基于模型的控制;动态–IC;运动学
INTRODUCTION
介绍
Parallel manipulator has been extensively studied due to its high force-to-weight ratio and widespread application [1-2].
并联机器人已被广泛研究,由于其高动力重量比和广泛的应用[ 1 - 2]。
6-DOF parallel manipulator is named Stewart platform after Stewart illustrated the use of such parallel structure [3],it is also referred to as Gough-platform who presented the practical use of such a system [4].
六自由度并联机器人取名斯图尔特平台后,斯图尔特说明使用这种平行结构[ 3],它也被称为高夫平台,高夫提出实际使用这种系统[