关键词: PID控制算法, 并联机构, 运动学逆解

Abstract: A method of digital PID is used in precise parallel robot for fiber alignment firstly. This new control method and control system is introduced in high speed and high precise parallel robot. Additionally, the inverse kinematics problem in real time conditions is solved by DSP new technique and the system is stabilized all the more. The experimental results demonstrate that the new control system and method may attain to the high technical request of fiber alignment work entirely in mini-precise parallel mechanism and it presents a new applied method for controlling and designing of similar high precise and large work distance mini -orient system.

Key words: Inverse solution, Parallel robot, PID control method