考虑力补偿的2(3PUS+S)并联机器人主动关节同步控制

doi:10.3901/JME.2019.11.046

机械工程学报 ›› 2019, Vol. 55 ›› Issue (11): 46-52.doi: 10.3901/JME.2019.11.046

• 特邀专栏：共融机器人 • 上一篇下一篇

考虑力补偿的2(3PUS+S)并联机器人主动关节同步控制

山显雷^1,2, 程刚¹, 陈世彪¹

1. 中国矿业大学机电工程学院徐州 221116;
2. 天津大学机构理论与装备设计教育部重点实验室天津 300350

收稿日期:2018-10-12 修回日期:2019-04-02 出版日期:2019-06-05 发布日期:2019-06-05
通讯作者: 程刚(通信作者),男,1977年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学、大型机电设备可靠性及故障诊断技术。E-mail:chg@cumt.edu.cn
作者简介:山显雷,男,1987年出生,博士。主要研究方向为并/混联机器人的机电耦合及性能分析。E-mail:xl_shan@foxmail.com;陈世彪,男,1991年出生,博士研究生。主要研究方向为并联机器人控制技术。E-mail:chenshibiao@cumt.edu.cn
基金资助:
国家自然科学基金（91648105）和江苏高校优势学科建设工程资助项目。

Active Joint Synchronization Control of a 2(3PUS+S) Parallel Robot with Consideration of Force Compensation

SHAN Xianlei^1,2, CHENG Gang¹, CHEN Shibiao¹

1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116;
2. Key Laboratory of Mechanism Theory and Equipment Design of the State Education Ministry, Tianjin University, Tianjin 300350

Received:2018-10-12 Revised:2019-04-02 Online:2019-06-05 Published:2019-06-05

摘要/Abstract

摘要： 在并联机器人基于关节空间的控制中，运动控制精度不仅受结构误差及运动副摩擦的影响，由于闭链结构特点，还受主动支链的耦合及运动协调性的影响。以一种2（3PUS+S）并联机器人为研究对象，在前期误差及摩擦补偿研究的基础上，开展主动关节的同步控制研究。通过建立基于关节空间的动力学模型确定主动关节由于惯量耦合引起的耦合力，以主动支链间的运动协调性为约束定义同步误差，并基于增广PD控制理论设计主动关节的同步控制策略，在进行结构误差修正的基础上以前馈补偿方式对耦合力及摩擦力进行补偿，基于控制试验验证了所设计控制策略的有效性。提出的考虑力补偿的主动关节同步控制策略对于改善并联机器人的运动控制精度具有重要作用。

关键词: 并联机器人, 动力学, 关节空间, 力补偿, 同步控制

Abstract: For joint space control of parallel robots, motion control accuracy is not only affected by the structural error and friction, but also by the coupling and motion coordination of the active joints due to the characteristics of the closed chain structure. Studies on active joint synchronization control of a 2(3PUS+S) parallel robot are conducted based on the early study on error and friction compensation. With the help of an established dynamic model based on joint space, the coupling force caused by inertia coupling is calculated. The synchronization error is defined by the motion coordination between active joints, and then, active joint synchronization control strategy is designed based on augmented PD control theory. On the base of the correction of structural error, the coupling force and friction are compensated by feedforward compensation. The last but not the least, the effectiveness of the control strategy is verified based on the control experiments. The proposed active joint synchronization control strategy with consideration of force compensation is of great importance to improve the motion control accuracy of parallel robots.

Key words: dynamics, force compensation, joint space, parallel robot, synchronization control

中图分类号:

TP242

山显雷, 程刚, 陈世彪. 考虑力补偿的2(3PUS+S)并联机器人主动关节同步控制[J]. 机械工程学报, 2019, 55(11): 46-52.

SHAN Xianlei, CHENG Gang, CHEN Shibiao. Active Joint Synchronization Control of a 2(3PUS+S) Parallel Robot with Consideration of Force Compensation[J]. Journal of Mechanical Engineering, 2019, 55(11): 46-52.

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考虑力补偿的2(3PUS+S)并联机器人主动关节同步控制

Active Joint Synchronization Control of a 2(3PUS+S) Parallel Robot with Consideration of Force Compensation

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