六自由度转台鲁棒控制的研究  

The Study of Robust Control on Six Degree-of-Freedom Parallel Robot

作　　者：何景峰[1] 韩俊伟[1] 

机构地区：[1]哈尔滨工业大学电液伺服仿真及试验系统研究所,哈尔滨150001

出　　处：《机床与液压》2002年第5期98-100,共3页Machine Tool & Hydraulics

摘　　要：本文针对六自由度转台 (又称并联机器人 ) ,分析了它在单自由度运动情况下负载质量与模拟台运动位姿的关系以及负载质量的变化范围 ,然后在系统鲁棒性分析的基础上 ,将负载质量按照变化区间进行了划分 ,并针对每个变化区间设计了各自相应的鲁棒控制器 ,从而使设计出的系统在负载参数变化的整个范围内都具有良好的性能。最后通过仿真 ,验证了系统在该控制器作用下 。In this paper the robust control problem of six degree-of-freedom Stewart platform (also called 6-dof parallel robot) is addressed The relationship between the equivalent load of hydraulic system and the position of the platform moving in single degree of freedom is analyzed, and the range of the mass is also identified Then based on the analysis of the controller robustness, the range of the equivalent load is divided into several areas, and for each area a robust controller is designed so that in the whole area the designed system can achieve satisfying performance Simulation is also provided to show the strong robustness of the designed system with these controllers

关 键 词：六自由度转台 鲁棒控制 并联机器人 等效负载 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]