摘要
采用并联机构的简化树动力学模型 (reducedtreemodel) ,给出了冗余并联结构的动力学方程和基于PD控制策略的控制方法。为了消除冗余并联机构固有的内作用力 ,给出了一种基于静态力平衡的控制方法。最后 ,利用一个 2自由度的冗余平面并联机构作为控制实例 。
Dynamic equations are derived using reduced tree model for close-chain mechanisms. The PD-based control strategy is employed to control the manipulators. In order to eliminate internal forces inherent in redundant mechanisms, a new method based on static force transformation is presented without forces feedback. Finally, a 2-DOF planar redundant parallel manipulator is utilized as the control example. Experimental results show the validity of the derived dynamic model and the proposed control method.
出处
《国防科技大学学报》
EI
CAS
CSCD
北大核心
2001年第3期111-114,共4页
Journal of National University of Defense Technology
基金
海外青年合全研究基金 (5 0 0 2 95 0 1)
关键词
冗余
并联机构
动力学
PD控制
redundancy
parallel mechanisms
dynamics
PD control
