三平移并联机器人机构的智能模糊控制研究

目前，有关并联机器人的研究多限于机构学、运动学和动力学方而的研究本文针对一种三平移并联机器人机构，在根据动平台运动要求，基于运动学分析实时求得各支路主动副期望角位移，建立了控制系统模型。设计了一种用于并联机器人轨迹跟踪的模糊控制器，仿真实现了对各支路主动副期望运动轨迹的跟踪。仿真研究结果表明，该控制方案能实现较高精度的快速轨迹跟踪，同时可削弱或避免常规模糊控制中的振荡现象和稳态误差。系统对参数摄动和外界于扰具有较强的鲁棒性。其研究为进一步实现该并联机器人机构的高精度实时控制奠定了基础。

Study on Intelligent Fuzzy Control for a 3-DOF Translational Parallel Robot Mechanism

At present, the research for parallel robots is mostly about their mechanics, kinematics and dynamics. For a new - type 3 -DOF translational parallel robot mechanism, in terms of the motion requirement on its moving platform, the desired angular displacements of active joints, in real time were founded based on the analysis of kinematics. The control scheme was proposed, a fuzzy controller of trajectory track using in parallel robot was designed, and the motion control of the mechanism was implemented by simulation, It is shown from the simulation results that the parallel robot system using the proposed control algorithn~, can implement the high - accuracy fast trajectory track and weaken or avoid the surge phenomenon and steady - state error in general fuzzy control. The system is robust to the parameter perturbations and disturbances, The investigation provides the basis for implementing the high - accuracy real - time control of the parallel robot mechanism,