Stewart并联机器人控制算法研究  

Research of Stewart Parallel Robot Control Algorithm

作　　者：文刚[1] 高宏力[1] 彭志文[1] 梁超[1] WEN Gang,GAO Hong-li,PENG Zhi-wen,LIANG Chao(School of Mechanical Engineering,Southwest Jiaotong University,Sichuan Chengdu 610031, Chin)

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《机械设计与制造》2018年第8期226-228,232,共4页Machinery Design & Manufacture

摘　　要：Stewart并联机器人具有非线性强、耦合度高的特点,控制的难度较高,针对平台的这些困难点,文章提出了基于动力学模型的模糊计算力矩控制方法,实现平台的较高精度的轨迹跟踪控制,且控制的过程更加的灵活,适应性更强。计算力矩控制方法就是根据并联机器人的动力学模型以及平台的路径规划,结合机构的运动学分析,可以计算出每个缸体的瞬时施加力的大小,实现对平台的精确控制。再通过模糊算法控制器,实时动态的优化计算力矩算法的控制参数,使得控制的精度更加的精准,实时性也更强,同时拥有较高的抗干扰能力和应变能力。经过仿真得到结果,此算法具有明显的效果并且实用性非常好。Stewart parallel robot has the characteristics of strong nonlinear and high coupling,it is difficult to control. Because of these parallel robot＇s characteristics,fuzzy computed torque control method based on dynamic model is propose in this paper,to achieve platform＇s trajectory tracking control in high precision,and the prosess of control is more flexible and stronger adaptability. Computed torque is based on the dynamics model of parallel robot and platform＇s path planning,we can calculate the size of the instantaneous force for each cylinder to achieve platform＇s control. Through fuzzy algorithm,optimize the control parameters of computed torque in a real time and dynamic way,makes the precision of the control more accurate and more real-time,at the same time have a high anti-interference ability and strain capacity. After simulation results are obtained,Simulation results show that the method is feasible and effective.

关 键 词：STEWART平台 模糊控制 计算力矩 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]