平面二自由度冗余驱动并联机器人控制实验研究  

Experiment Research on Control Method of a Planar 2-DOF Redundantly Actuated Parallel Robot

作　　者：李艳[1] 王勇[1] 陈正洪[2] 

机构地区：[1]山东大学高效洁净机械制造教育部重点实验室,济南250061 [2]山东交通学院工程机械系,济南250023

出　　处：《武汉理工大学学报（交通科学与工程版）》2009年第4期623-626,共4页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家863计划项目(批准号:2008AA04Z130);国家自然科学基金项目(批准号:50775130)资助

摘　　要：对平面二自由度冗余驱动并联机器人进行了逆运动学分析,由末端执行器的位置计算得到主动关节角的位置.分别采用传统的PID控制方法和PID+速度前馈补偿+加速度前馈补偿的方法对并联机器人轨迹跟踪问题进行了实验研究.通过比较2种控制方法的轨迹跟踪效果和比较由连接在连杆上的加速度传感器测量的振动大小,证明了PID+速度前馈补偿+加速度前馈补偿的方法能更好地实现轨迹跟踪.Parallel robots have very good performanee in terms of rigidity and accuracy. In this paper, a 2- DOF redundantly actuated parallel robot is taken as the object of study. The angles of active joints are obtained by analyzing inverse kinematics of the parallel robot. An experiment research on trajectory tracking is carried out by using the conventional PID control and the PID control plus velocity feedforward compensation plus acceleration feedforward compensation respectively. By comparing the trajectory tracking performance of the two control methods as illustrated above, it is shown that the latter control method is better. The vibration measured by the acceleration transducer also demonstrates the effectiveness of the latter control method.

关 键 词：并联机器人 逆运动学分析 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]