摘要
针对3-TPT并联机器人在钢坯修磨过程中,为了保持准确的轨迹,提出了一种控制算法。首先对3-TPT并联机器人进行运动学分析,给出了运动学方程的正解和逆解,求出了雅可比矩阵,为后面进行位置控制仿真系统的搭建奠定基础;接着针对3-TPT并联机器人的作业特性,在PD加重力补偿控制算法的基础上建立了位置控制系统;最后对两种不同形式的外力情况进行位置控制系统的仿真,验证了该控制策略的有效性,能够保证3-TPT并联机器人位置控制的精确性。
Adopting a control algorithm for achieving accurate trajectory during 3-TPT parallel robot snags steel billets. Firstly, analyzing the kinematics of 3-TPT parallel robot, giving the positive solution and inverse solution of kinematic equation, and getting the Jacobian matrix can lay the foundation for simulation control system. Secondly, building position control system based on PD control and gravity compensation after analyzing the operation characteristics of 3-TPT parallel robot. Finally, conducting the simulation of position control system under two different forms of external forces verifies the effec- tiveness of control strategy and can ensure accuracy of 3-TPT parallel robot position control.
出处
《组合机床与自动化加工技术》
北大核心
2013年第3期50-52,共3页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金资助项目(5057038)
