液压六自由度并联机器人控制策略的研究

Control Strategy of a Hydraulic 6-DOF Parallel Robot

  • 摘要: 以所研制的大负载液压六自由度并联机器人试验样机为研究对象,通过对其系统特性的分析,探讨了该类控制系统的控制特点和适用的控制策略,提出了一种具有输入、输出前馈补偿的模糊自适应PID控制策略,并在试验样机上作了实验研究.实验结果表明:该方法可在较大程度上补偿系统的非对称特性,并能提高系统响应快速性、运动精度和抗负载扰动能力.

     

    Abstract: The prototype of a hydraulic 6-DOF parallel robot developed is presented in this paper. Through the analysis of its system characteristics, a fuzzy adaptive PID control strategy with input and output feedforward compensation is put forward. Experiment study is made on the prototype, and the results indicate that, with this control strategy, the asymmetrical characteristics of the system can be greatly compensated, and the response time, movement accuracy and resistance to load disturbance of the system can be improved.

     

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