【摘要】 针对Delta并联机构,考虑随位姿实时变化的惯性负载对伺服控制系统的影响,提出了一类三自由度高速并联机器人控制器参数整定新方法。首先借助于矢量法导出Delta机构的逆运动学和逆动力学模型,消元法建立其正解模型。在此基础上,建立机电耦合控制模型,直接以机器人末端执行器在整个工作空间运动轨迹的均方根值误差作为综合性能优化目标,在无穷多PID参数非线性组合中离线整定出一组最优值,并通过进行前馈补偿,进一步提高系统精度。更多还原

【Abstract】 Considering the inertial load varying along with the configuration of the Delta high-speed parallel robot,a controller parameter tuning method is developed. Both inverse and direct kinematic models are set up by means of vector method. Based on this,take the least square error of the trajectory of the moving platform as the optimum goal,and find out the values of the PID which may ensure the best performance of the robot. Then,feed-forward compensation is adopted and the trajectory precision is more improved,satisfying the demand of the system.更多还原