摘要
在并联机器人基于关节空间的控制中,运动控制精度不仅受结构误差及运动副摩擦的影响,由于闭链结构特点,还受主动支链的耦合及运动协调性的影响。以一种2(3PUS+S)并联机器人为研究对象,在前期误差及摩擦补偿研究的基础上,开展主动关节的同步控制研究。通过建立基于关节空间的动力学模型确定主动关节由于惯量耦合引起的耦合力,以主动支链间的运动协调性为约束定义同步误差,并基于增广PD控制理论设计主动关节的同步控制策略,在进行结构误差修正的基础上以前馈补偿方式对耦合力及摩擦力进行补偿,基于控制试验验证了所设计控制策略的有效性。提出的考虑力补偿的主动关节同步控制策略对于改善并联机器人的运动控制精度具有重要作用。
For joint space control of parallel robots,motion control accuracy is not only affected by the structural error and friction,but also by the coupling and motion coordination of the active joints due to the characteristics of the closed chain structure.Studies on active joint synchronization control of a 2(3PUS+S)parallel robot are conducted based on the early study on error and friction compensation.With the help of an established dynamic model based on joint space,the coupling force caused by inertia coupling is calculated.The synchronization error is defined by the motion coordination between active joints,and then,active joint synchronization control strategy is designed based on augmented PD control theory.On the base of the correction of structural error,the coupling force and friction are compensated by feedforward compensation.The last but not the least,the effectiveness of the control strategy is verified based on the control experiments.The proposed active joint synchronization control strategy with consideration of force compensation is of great importance to improve the motion control accuracy of parallel robots.
作者
山显雷
程刚
陈世彪
SHAN Xianlei;CHENG Gang;CHEN Shibiao(School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou 221116;Key Laboratory of Mechanism Theory and Equipment Design of the State Education Ministry,Tianjin University,Tianjin 300350)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2019年第11期46-52,共7页
Journal of Mechanical Engineering
基金
国家自然科学基金(91648105)
江苏高校优势学科建设工程资助项目
关键词
并联机器人
动力学
关节空间
同步控制
力补偿
parallel robot
dynamics
joint space
synchronization control
force compensation
