机床与液压
機床與液壓
궤상여액압
MACHINE TOOL & HYDRAULICS
2014年
9期
29-32
,共4页
过驱动并联机构%非线性动力学特性%计算力矩控制
過驅動併聯機構%非線性動力學特性%計算力矩控製
과구동병련궤구%비선성동역학특성%계산력구공제
Overactuated parallel mechanism%Nonlinear dynamics characteristic%Computing torque control
并联机构运动学控制器忽略了复杂的非线性动力学关系，因此控制器的实际性能往往有限。为此，以提高并联机器人的操作精度为目标，针对2-DOF并联机构，通过建立机构的动力学数学模型及刚度矩阵，设计了计算力矩控制器。基于计算力矩控制器的模型由于考虑了非线性补偿而极大地提高了其控制品质。通过实验将设计的控制器应用到2-DOF并联机构，仿真和实验结果验证了算法的有效性和正确性。
併聯機構運動學控製器忽略瞭複雜的非線性動力學關繫，因此控製器的實際性能往往有限。為此，以提高併聯機器人的操作精度為目標，針對2-DOF併聯機構，通過建立機構的動力學數學模型及剛度矩陣，設計瞭計算力矩控製器。基于計算力矩控製器的模型由于攷慮瞭非線性補償而極大地提高瞭其控製品質。通過實驗將設計的控製器應用到2-DOF併聯機構，倣真和實驗結果驗證瞭算法的有效性和正確性。
병련궤구운동학공제기홀략료복잡적비선성동역학관계，인차공제기적실제성능왕왕유한。위차，이제고병련궤기인적조작정도위목표，침대2-DOF병련궤구，통과건립궤구적동역학수학모형급강도구진，설계료계산력구공제기。기우계산력구공제기적모형유우고필료비선성보상이겁대지제고료기공제품질。통과실험장설계적공제기응용도2-DOF병련궤구，방진화실험결과험증료산법적유효성화정학성。
In parallel mechanism kinematics controller,the complex nonlinear dynamics relationships are ignored,so the actual performance of the controller is often limited. For this,to improve the operation accuracy of parallel robot,aiming at the 2-DOF paral-lel mechanism,through establishing the dynamic mathematical model of mechanism and stiffness matrix,a computing torque controller was designed. Because in the model based on computing torque controller,nonlinear compensation was considered,so the control qual-ity was enhanced greatly. The designed controller was applied to the 2-DOF parallel mechanism,simulation and experimental results verified the correctness and effectiveness of the algorithm.
