一种三自由度冗余驱动并联机器人控制研究

A Three-Degree-Of-Freedom Redundant Drive Parallel Robot Control Research

摘要:

并联机器人具有无摩擦无间隙、响应快、结构紧凑、刚性好、误差积累小等特点,但其在几何特性方面也存在很多缺点,如运动范围小、灵活性差以及工作空间内存在奇异位形等,加入冗余度可以改善它的几何特性。由于冗余驱动并联机器人在工作空间、灵活性、避障能力及动力特性等方面具有优点,因而受到了越来越多的重视,本文提出一种三自由度的冗余驱动并联机器人控制研究方法,主要从冗余并联机器人的运动学模型、工作空间、MATLAB仿真及其控制程序开发等主要方面进行了深入细致的研究。

Abstract:

Parallel robot has no friction and clearance, fast response, compact structure, good rigidity, low error accumulation, etc, but there are also many shortcomings in geometric features, such as the movement range of small, poor flexibility, and work space, such as singular configuration, adding redundancy can improve its geometric features. By redundant drive parallel robot working space, flexibility, obstacle avoidance capability and dynamic property has the advantage, therefore the more and more attention, this paper proposes a three degrees of freedom of redundant drive parallel robot control research methods, mainly from the redundant parallel robot kinematics model, the workspace, matlab simulation and its control program development main aspects carried on the thorough careful research.