六自由度并联机器人的运动控制与研究

发布时间：2017-12-28 16:19

本文关键词：六自由度并联机器人的运动控制与研究　出处：《新疆大学》2017年硕士论文　论文类型：学位论文

【摘要】：并联机构相对于串联机构来说,它是一种全新的结构,其优势在于具有很大的刚度,非常高的精度,很强的承载能力,容易实现控制等等。在结构和性能上与应用广泛的串联机构形成对偶关系,在应用上形成互补关系,大大扩展了机器人的应用范围。并联机构是一个复杂系统,其具有多自由度、多输入和多输出、非线性程度较高、多参数、强耦合的特点,还有很多问题还需要进一步的研究和完善。本文详细介绍了六自由度(Six Degrees of Freedom,6-DOF)并联机构的运动学,即对并联机构的位置进行正反解计算,分析平台运动的速度和加速度。利用位置反解求得大量的输入输出数据组,把这些数据组作为极端学习机的网络训练样本,应用极端学习机算法求解位置正解,实现并联机构输入位移与输出位姿的非线性映射,进而可求解出与输入位移对应的输出位姿,并采用Matlab软件对极端学习机方法进行仿真验证。在运动学分析的基础上,运用牛顿—欧拉法,对并联机构建立动力学模型。在Matlab/SimMechanics中建立6-DOF并联平台的机械模型,使其与Simulink紧密组合在一起,构造出并联机构仿真控制系统。对并联机构的上平台进行了轨迹规划,设计出六自由度并联机构控制系统总体方案。采用比例微分(Proportion Derivative,PD)控制器,引入鲁棒自适应控制策略,耦合成鲁棒自适应PD控制算法,并将其应用于Stewart并联机器人单缸伺服系统。利用Matlab/Simulink模块建立并联机构联合控制系统,用鲁棒自适应PD控制算法对其运动控制进行仿真实验。仿真结果表明鲁棒自适应PD控制算法对Stewart并联机器人单缸伺服系统的参数变化具有自适应性,对于外界干扰具有很强的鲁棒稳定性,能对系统轨迹进行稳定跟踪,实现高效驱动,有效地提高系统运动的稳定性。
[Abstract]:Parallel mechanism is a new structure relative to series mechanism. Its advantage lies in its great rigidity, high accuracy, strong carrying capacity, easy realization of control and so on. The dual relationship is formed in the structure and performance with the widely used series mechanism, and the complementary relationship is formed in the application, which greatly expands the scope of the application of the robot. Parallel mechanism is a complex system. It has many degrees of freedom, multi input and multi output, high nonlinearity, multi parameter and strong coupling. There are still many problems to be further studied and perfected. In this paper, the kinematics of Six Degrees of Freedom (6-DOF) parallel mechanism is introduced in detail, that is, the forward and backward solution of the position of the parallel mechanism is calculated, and the speed and acceleration of the platform motion are analyzed. The solution is obtained by a large number of input and output data set by position, put these data as extreme learning machine network training samples, application of extreme learning machine algorithm for solving the position of positive solutions, nonlinear mapping implementation of parallel mechanism the input displacement and output pose, and output pose can be calculated with the corresponding input displacement, and the use of Matlab the software of extreme learning machine method for simulation. On the basis of kinematics analysis, using the Newton Euler method, establish the dynamic model of the parallel mechanism. The mechanical model of 6-DOF parallel platform is set up in Matlab/SimMechanics, so that it is closely combined with Simulink, and the simulation control system of parallel mechanism is constructed. The trajectory planning of the upper platform of the parallel mechanism is carried out, and the overall scheme of the six degree of freedom parallel mechanism control system is designed. The Proportion Derivative (PD) controller is introduced to introduce the robust adaptive control strategy, and the robust adaptive PD control algorithm is coupled. It is applied to the single cylinder servo system of the Stewart parallel robot. The joint control system of parallel mechanism is established by using Matlab/Simulink module, and the simulation experiment of motion control is carried out by the robust adaptive PD control algorithm. The simulation results show that the adaptive algorithm parameters of Stewart parallel manipulator cylinder servo system of robust adaptive control for PD, has strong robustness to external disturbance, the system trajectory stability tracking, achieve efficient driving, effectively improve the stability of the system movement.
【学位授予单位】：新疆大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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