摘要
研究移动模组驱动的Tripod并联机器人建模方法,以及基于计算力矩法的PID轨迹跟踪控制算法。首先,分析所设计的移动模组驱动的Tripod并联机器人的机构构型,建立其定平台、动平台坐标系;然后,采用Newton-Euler法对Tripod并联机器人各个移动模组进行受力分析,利用虚功原理建立Tripod并联机器人动力学模型,根据逆动力学模型,研究基于计算力矩的PID控制器的设计方法;最后,针对动力学模型存在参数偏差和外部干扰力的情况,采用所设计控制器进行了轨迹跟踪控制仿真实验,结果验证了所研究控制算法的有效性。
Tripod parallel robot driven by mobile module is taken as the research object in this paper,the modeling method of Tripod parallel robot and the PID trajectory tracking control algorithm based on computational moment method are studied.Firstly,the mechanism configuration of Tripod parallel robot driven by mobile module is analyzed,and the coordinate system of fixed platform and moving platform is established.Then,the Newton-Euler method is used to analyze the force of each mobile module of Tripod parallel robot,and the dynamic model of Tripod parallel robot is established by principle of virtual work.Based on inverse dynamical model,the design method of PID controller based on calculating torque method is studied.Finally,in view of the existence of parameter deviation and external disturbance in the dynamical model,the trajectory tracking control simulation experiment is carried out using the designed controller.The results verify the effectiveness of the control algorithm proposed.
作者
徐建明
谢丹
XU Jianming;XIE Dan(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)
出处
《浙江工业大学学报》
CAS
北大核心
2020年第6期598-604,共7页
Journal of Zhejiang University of Technology
基金
国家自然科学基金-浙江省自然科学基金联合基金两化融合项目(U1709213)
国家自然科学基金面上项目(61374103)。
