• CN：11-2187/TH
• ISSN：0577-6686

• 机构学及机器人学研究进展——纪念张启先院士诞辰九十周年专辑 •

### 平面2自由度并联机器人的解耦控制和仿真分析

1. 广东工业大学机电工程学院
• 出版日期:2015-07-05 发布日期:2015-07-05
• 基金资助:
国家自然科学基金(51375095)、国家基金委-广东省联合基金重点(U1401240)和国家国际科技合作专项(2015DFA11700)资助项目

### Decoupling Control and Simulation of a 2-DOF Parallel Robot

CHEN Weinan, LIU Guanfeng, LIN Xieyuan, ZHANG Guoying, GUAN Yisheng

1. School of Electro-mechanical Engineering, Guangdong University of Technology
• Online:2015-07-05 Published:2015-07-05

Abstract: A 2-DOF planar parallel robot is studied. The kinematics model is established, and the dynamics model by using Euler-Lagrange formulation is deduced based on it. According to the dynamic model, a computed torque (C-T) decoupling control method is introduced. It is proved that the corresponding Lyapunov function is global asymptotic stable in the ideal and non-ideal estimation with this method. The decoupling control function can be easily got. Associated with the control function and the real parameters of the robot, the Simulink model is established and simulated. The control strategy includes method of C-T decoupling control with traditional PD controller and method of C-T decoupling control with self-adaption controller. The Simulink results indicate that the conclusion of the stability of C-T decoupling control system can be easily found, and the control error is small. The performance of C-T decoupling control with adaption fuzzy controller is better by comparing the output figures. Key words：2-DOF parallel robot；dynamics；decoupling control；fuzzy control