RESEARCH OF PRECISE PARALLEL ROBOT CONTROL METHOD AND SYSTEM

Abstract

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

CLC Number:

TP24

Zhang Xiufeng;Sun Lining. RESEARCH OF PRECISE PARALLEL ROBOT CONTROL METHOD AND SYSTEM[J]. , 2004, 40(4): 177-180.

[1]	SHANG Deyong, HUANG Yunshan, HUANG Xinyi, PAN Zhan. Nonlinear Hybrid Control of Rigid Flexible Coupling Delta Robot Based on Singular Perturbation [J]. Journal of Mechanical Engineering, 2024, 60(5): 95-106.
[2]	CHU Hongpeng, QI Bai, WANG Huiqi, QIU Xuesong, ZHOU Yulin. 6-DOF Wheeled Parallel Robot and Its Design Method [J]. Journal of Mechanical Engineering, 2023, 59(3): 46-53.
[3]	XU Lingmin, YE Wei, LI Qinchuan. Geometric Algebra-based Method for Inverse Dynamic Modeling of Parallel Robots [J]. Journal of Mechanical Engineering, 2022, 58(7): 1-11.
[4]	QIAN SenQIAN, Pengfei, WANG Chunhang, ZHOU Bin, ZI Bin. Dynamics and Path Planning of Multi-crane Cooperative Lifting Robot [J]. Journal of Mechanical Engineering, 2022, 58(7): 20-31.
[5]	XIA Chun, ZHANG Haifeng, LI Qinchuan, CHAI Xinxue. Novel Kinematic Calibration Method of Parallel Mechanisms Using the Equivalent Kinematic Chains [J]. Journal of Mechanical Engineering, 2022, 58(14): 71-84.
[6]	ZHANG Bin, DING Ruizhe, SHANGGUAN Linjian, SHI Jinfa. Simulation Study of Mobile Parallel Machining Robot [J]. Journal of Mechanical Engineering, 2022, 58(14): 146-153.
[7]	MENG Qizhi, XIE Fugui, ZHANG Sai, LIU Xinjun. Type Synthesis and Dimensional Optimization of a High-speed and High-acceleration Parallel Robot [J]. Journal of Mechanical Engineering, 2022, 58(13): 36-49.
[8]	DENG Binbin, SHANG Weiwei, ZHANG Bin, CONG Shuang. Fast Terminal Sliding Mode Control with Synchronization Error for a 6-DOF Cable-driven Parallel Robot [J]. Journal of Mechanical Engineering, 2022, 58(13): 50-58.
[9]	ZHANG Huipu, WANG Manxin. Dynamic Dimension Synthesis of 4-RṞ(SS)₂ High Speed Parallel Robot [J]. Journal of Mechanical Engineering, 2022, 58(1): 29-40.
[10]	ZHANG Jun, JIANG Shujia, CHI Changcheng. Kinematic Calibration of a 2UPR&2RPS Redundantly Actuated Parallel Robot [J]. Journal of Mechanical Engineering, 2021, 57(15): 62-70.
[11]	QI Youquan, LI Yanwen, CHEN Ziming, KONG Fandong, YANG Xiaokun, ZHU Weiguo. Design and Kinematics’ Analying of a Series Nine-degree-of-freedom Spraying Robot [J]. Journal of Mechanical Engineering, 2020, 56(23): 165-171.
[12]	XIE Fugui, MEI Bin, LIU Xinjun, ZHANG Jiabo, YUE Yi. Novel Mode and Equipment for Machining Large Complex Components [J]. Journal of Mechanical Engineering, 2020, 56(19): 70-78.
[13]	ZHANG Fei, ZHANG Bin, ZHOU Feng, SHANG Weiwei, CONG Shuang. Configuration Selection and Parameter Optimization of Redundantly Actuated Cable-driven Parallel Robots [J]. Journal of Mechanical Engineering, 2020, 56(1): 1-8.
[14]	YOU Hong, SHANG Weiwei, ZHANG Bin, ZHANG Fei, CONG Shuang. Trajectory Tracking Control of Cable-driven Parallel Robots by Using High-speed Vision [J]. Journal of Mechanical Engineering, 2019, 55(5): 19-26.
[15]	ZI Bin, YIN Zeqiang, LI Yongchang, ZHAO Tao. Fast Mobile Component Location Method for Cable-driven Parallel Robots Based on YOLO Model [J]. Journal of Mechanical Engineering, 2019, 55(3): 64-72.

RESEARCH OF PRECISE PARALLEL ROBOT CONTROL METHOD AND SYSTEM

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments