六自由度并联微动机器人全闭环控制系统研究  

Research of closed-loop control of 6-DOF parallel micro motion robot

作　　者：丰茂[1] 

机构地区：[1]国家知识产权局专利局专利审查协作北京中心,北京100190

出　　处：《山东理工大学学报（自然科学版）》2012年第1期62-66,共5页Journal of Shandong University of Technology:Natural Science Edition

摘　　要：为了提高基于压电陶瓷驱动的3-PPSR并联微动机器人的定位精度,将一种电容式微位移传感器集成于并联机构上,采用六点式测量法同时得到并联机器人末端六个自由度的位姿.使用微位移循环修正法进行误差分析和补偿,确定初始误差并在此基础上提出了有效的误差补偿方法.在已有的压电陶瓷闭环控制的基础上,利用测量所得的并联机构末端位姿作为反馈信号,采用模糊PID控制法实现了整个机构的闭环控制.Taking a three-limb 6-DOF parallel micro motion robot driven by piezoelectric as the object,in order to improve its positioning accuracy,a kind of capacitive sensor which is used to detect the micro-displacement is integrated in the parallel robot.The six-point measurement method is developed to measure the parallel robot＇s pose of 6-DOF at the same time.The method of adjusting displacement recurrently is used to analyze and compensate the error.Based on the research,a method of error compensation is presented.With the feedback signal of the sensors,the closed-loop control is realized by the fuzzy PID control method.

关 键 词：六点式测量法 误差补偿 闭环控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]