Positioning Control of Pneumatic Parallel Manipulator
Positioning Control of Pneumatic Parallel Manipulator
复制标题
气动并联机械手的定位控制
DOI：
10.20965/ijat.2008.p0049
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
T. Noritsugu
中科院分区：
文献类型：
--
作者：
M. Takaiwa;T. Noritsugu
本文介绍了一种实现并联机器人鲁棒定位性能的控制方法。气动缸作为驱动执行机构，其主要特点是具有直线运动的特点，具有结构简单、功率重量比高等优点。在并联机器人的定位控制方案中，大多数都是基于逆运动学的，即从平台的位置/姿态到连杆的位移的映射，因为逆运动学具有与串联连杆操纵器相反的解析解。这种方法的优点是不需要复杂的机械手动力学，但必须降低相互作用力和机械手动力学的影响，这是对定位伺服的干扰，以提高控制性能。气动执行器基本上是由压力控制的，因此，如果产生压力以抵消干扰的影响，则干扰不会完全影响控制性能。因此，在压力控制的基础上，构造了采用2个扰动观测器的定位控制系统。如果能够根据手的坐标系来调整平台的动力学，那么它的使用范围将会非常广泛。在这项研究中，控制系统的基础上的手坐标系也被构建。通过实验和分析，验证了控制系统的有效性.
This paper describes one of the control methods which attain robust positioning performances of a parallel manipulator. Pneumatic cylinders are employed as a driving actuator by focusing on its rectilinear movement which makes it easy to construct a manipulator and high power/weight ratio and so on. In positioning control schemes of a parallel manipulator, almost of them are based on the inverse kinematics, a map from a position/orientation of the platform to displacement of links, since inverse kinematics has an analytic solution contrary to the serial link manipulator. This method has an advantage that a complicated manipulator's dynamics is not needed, but the influences of interaction force and manipulator's dynamics, which act as disturbances on the positioning servo, must be lowered to improve control performances. Basically pneumatic actuator is controlled by pressure, therefore if pressure would be generated so as to cancel the influence of disturbances, then disturbances would not affect on the control performances entirely. Therefore positioning control system employing 2 disturbance observers is constructed based on the pressure control. If dynamics of the platform could be adjusted based on the hand coordinate system, its field of use would be spread out extremely. In this study, a control system based on the hand coordinate system is also constructed. The validity of these control systems are confirmed through some experiments and analysis.