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以球面2-DOF冗余驱动并联机器人为研究对象,进行力/位混合控制仿真及实验研究。首先在工作空间内对该机器人末端轨迹进行了运动规划,其次,基于Sim Mechanics与Simlink搭建了机器人系统力/位混合控制仿真模型,并通过数值算例,验证了该方法的正确性与可行性。最后基于仿真结果对样机进行力/位混合控制实验,验证了冗余驱动分支输入通过驱动力优化得到的驱动力矩时,能最大限度减小非冗余分支的驱动力矩,使三个分支驱动力矩更加均衡。
Taking the spherical 2-DOF redundantly driven parallel robot as the research object, the force / bit hybrid control simulation and experimental research are carried out. Firstly, the motion trajectory of the robot’s end trajectory is planned in the working space. Secondly, a simulation model of force / bit hybrid control of the robot system is established based on Sim Mechanics and Simlink, and the correctness and feasibility of the method are verified by numerical examples . Finally, based on the simulation results, the hybrid control experiment of force / bit is performed on the prototype to verify that the driving torque obtained by the input of the redundant driving input through the driving force optimization can minimize the driving torque of the non-redundant branch and the three branch driving torque More balanced.