| 3-RRRT并联机器人解耦控制 |
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| 引用本文： | 刘延斌,韩秀英,赵新华. 3-RRRT并联机器人解耦控制[J]. 哈尔滨工业大学学报, 2009, 0(12): 247-249 |
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| 作者姓名： | 刘延斌 韩秀英 赵新华 |
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| 作者单位： | 河南科技大学,机电工程学院,洛阳,471003;天津理工大学,机械工程学院,天津,300191;河南科技大学,机电工程学院,洛阳,471003;天津理工大学,机械工程学院,天津,300191 |
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| 基金项目： | 天津自然科学基金项目(05YFJMJC04900);河南省教育厅自然科学计划项目(2006460004) |
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| 摘 要： | 研究一种3-RRRT新型高速搬运机器人解耦控制方法.依据第一类拉格朗日方程建立了3-RRRT型并联机器人的动力学与系统机电模型,根据其动力学模型特点,提出一种改进的计算力矩解耦控制方法.在运用违约修正约束稳定法对动力学模型进行求解的基础上,利用Matlab中的Simulink软件平台进行了并联机器人解耦控制数值仿真,结果表明所采用的解耦控制方法达到了较高的控制精度,适合于3-RRRT型并联机器人.
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| 关 键 词： | 并联机器人 解耦控制 动力学建模 系统仿真 |
Decoupled control of a 3-RRRT parallel robot |
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| LIU Yan-bin,HAN Xiu-ying,ZHAO Xin-hua. Decoupled control of a 3-RRRT parallel robot[J]. Journal of Harbin Institute of Technology, 2009, 0(12): 247-249 |
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| Authors: | LIU Yan-bin HAN Xiu-ying ZHAO Xin-hua |
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| Affiliation: | 1.School of Mechatronical Engineering,Henan University of Science and Technology,Luoyang 471003,China;2.School of Mechanical Engineering,University of Technology Tianjin,Tianjin 300191,China) |
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| Abstract: | A decoupled control method of 3-RRRT parallel robot is proposed.On the basis of Lagrange equations of the first kind,dynamics and mechatronics models of the 3-RRRT parallel robot were set up.According to characteristics of its dynamics model,an ameliorated decoupled control method was presented through calculating moments.Numerical solution of the dynamics model was implemented using constraint violation stabilization method,and numerical simulation on decoupled control of the 3-RRRT parallel robot was completed by use of Simulink software.It is proved that the decoupled control method is effective and precise,and is adaptive to the 3-RRRT parallel robot. |
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| Keywords: | parallel robot decoupled control dynamics modeling system simulation |
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