Modeling, Identification and Control of a Redundant Planar 2-DOF Parallel Manipulator
Modeling, Identification and Control of a Redundant Planar 2-DOF Parallel Manipulator
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发表时间：
2007-10
影响因子：
3.2
通讯作者：
Yaoxin Zhang;S. Cong;Weiwei Shang;Zexiang Li;Shilong Jiang
中科院分区：
文献类型：
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作者：
Yaoxin Zhang;S. Cong;Weiwei Shang;Zexiang Li;Shilong Jiang
本文研究了一种冗余度平面2-DOF并联机器人的动力学控制器设计问题。利用欧拉-拉格朗日方程，我们制定的并联机器人在关节空间的动力学模型，并提出了一种增广PD控制器的并联机器人的前向动力学补偿。通过在关节空间中构造控制器，消除了用末端执行器坐标计算关节角度雅可比矩阵的复杂过程。因此，我们的控制器以较少的运算量，较容易实现，且可达到较短的取样周期，使得控制器更适合于高速运动控制。同时，结合静摩擦力模型和粘滞摩擦力模型，对并联机器人主动关节摩擦力进行了研究，并在控制器中进行了补偿。基于直接测量和辨识得到的并联机器人动力学参数，进行了运动控制实验。通过实验验证了动态模型的正确性，并对控制器的性能进行了评价。实验结果表明，通过动态前馈补偿，增广PD控制器可以改善并联机器人的跟踪性能。
In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high- speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.