Integrated Force and Motion Control of Parallel Robots - Part 1: Unconstrained Space
Integrated Force and Motion Control of Parallel Robots - Part 1: Unconstrained Space
复制标题
并联机器人的集成力和运动控制 - 第 1 部分：无约束空间
DOI：
10.1007/978-3-642-16785-0_14
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
W. Schumacher
中科院分区：
文献类型：
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作者：
Michael Kolbus;Frank Wobbe;T. Reisinger;W. Schumacher
并联机器人在搬运和装配方面受益于其固有的高动态。然而，他们的耦合非线性系统动力学要求一个有效的控制系统的精度，鲁棒性和干扰抑制。本文提出了一种混合动力控制方案，是专门为这些功能。分层的方法封装的机器人动力学驱动级，因此，提供了有效的实时混合控制的基础。它是由一个完全指定的C2连续轨迹接口。此外，虚拟传感器的概念用于集成额外的组件和机制。
Parallel robots in the context of handling and assembly benefit from their inherent high dynamics. However, their coupled nonlinear system dynamics demand for an effective control system in terms of accuracy, robustness and disturbance rejection. This paper presents a hybrid control scheme that is designed specifically to these features. The hierarchical approach encapsulates the robot dynamics on drive-level and, thus, provides the basis for effective real-time hybrid control. It is interfaced by a fully specifiedC2-continuous trajectory. Moreover, concepts of virtual sensors are used for integration of additional components and mechanisms.