高速并联机械手动力学建模及计算力矩控制

基于模型的计算力矩控制由于考虑了非线性补偿而极大地提高了其控制品质。然而，并联机械手动力学模型的计算是非常耗时的，从而限制该控制器在工程中的应用。为此，针对2-DOF并联机械手Diamond 600，首先导出了机械手的位置、速度和加速度逆解模型，并根据动能定理独立计算出机械手的质量惯性矩阵，实现了控制算法解耦，然后利用虚功原理建立能用于实时控制的动力学简化模型。在此基础上，设计了适舍于并联机械手的计算力矩控制器。最后，将设计的控制器应用到2-DOF并联机械手，仿真和实验结果验证了算法的有效性和正确性。

Dynamics modeling and computed moment control of high speed parallel manipulator

Owing to the non-linear compensation has been taken into consideration, the computed-moment control based on model greatly enhanced its quality of control. Yet, the calculation on dynamics model of parallel manipulator is extraordinarily time consumption, thus restricted this controller to be applied in engineering field. For this reason, aimed against the 2-DOF parallel manipulator Diamond 600, this paper firstly derived the position of manipulator, the converse solution model of velocity and acceleration, and independently calculated outthe matrix of mass inertia of manipulator according to kinetic energy theorem and realized the decoupling of controlling algorithm, then afterwards using virtual work principle to establish simplified dynamics model. The computed-moment controller suitable for parallel manipulator was designed on this base. Finally, let the designed controller be applied to the 2-DOF parallel manipulator. Simulation and result of experiment verified the effectiveness and correctness of the algorithm.