| With the rapid development of robot technology, the advantage of parallel robot becomes more observably. Parallel robots are now widely applied to high precision and cutting-edge fields, such as aeronautics, aerospace, deep sea, hazardous chemicals, nuclear, medical treatment, and precision manufacturing, etc. That people requires higher standards for parallel robots’ working performance such as positioning accuracy, running smoothness, equipment stability, fault tolerance, adaptability, and coordination of multi-robot. The control problem gradually becomes one of the most important research directions in the robotic field. Meanwhile, under the modern complex information environment, the single objective and few objective traditional control methods are hard to satisfy parallel robot multi-objective control performance requirements. More and more robot control system needs better intelligent and practical multi-objective control algorithm. To resolve some parallel robot problems in engineering practice, the author does a lot of researches on parallel robot multi-objective cooperative intelligent control according to some biological network regulation mechanisms which owing multi-objective cooperative regulation characteristics. Mainly summarized as follows:(1) Study on adaptive controller design of the parallel robot motion branched chain. First, based on the endocrine thyroid hormone regulation mechanism, a multi-level cooperative regulation adaptive controller is proposed. The controller can regulate control parameters and make cooperative compensates automatically to improve response, accuracy and stability of the robot controller. What’s more, based on endocrine regulation network structure, a novel position-velocity cooperative intelligent controller is proposed, which improve the parameters regulation method and cooperative ability of the position and velocity.(2) Study on position, velocity and acceleration cooperative intelligent control of the parallel robot. Based on multi-loop feedback and multi-objective cooperative regulation mechanism of neuroendocrine system, a multi-loop and multi-objective cooperative intelligent control system is presented and applied to an actual multi-channel parallel robot. The experimental result shows that the proposed system greatly improves the control performance in sub-channels and global robot that can easy to achieve multi-objective cooperative intelligent control of the position, velocity and acceleration.(3) Study on precise cooperative fault-tolerant control of the parallel robot. Based on multi-objective cooperative regulation principle in human hemostasis system, a precise fault-tolerant system is proposed for redundant parallel manipulator to continue their fault-tolerant task accurately with the presence of failure. That robot can achieve cooperative control between the normal state and the fault state. The comparative experiment result shows that compared with traditional PID controller, the proposed fault-tolerant system has better control precision and fault-tolerant capability both in robot sub-channel and global.(4) Study on force-position decoupling and cooperation intelligent control of the parallel robot. Based on bilateral decoupling and cooperation bio-regulation mechanism in human body, a force and position decoupling and cooperation intelligent control system is proposed for minimally invasive surgical master-slave robot system. The new system solves the lacking force feedback problem in minimally invasive surgical robots such as da Vinci system. The experimental results indicate the proposed control system can acquire precise force feedback by motion signal without force sensor; Based on bio-regulation inspired decoupling and cooperation mechanism has a good force-position cooperative control performance; Operator gets accurate force feedback to make sure robot performing task steady.At last, a summary of the thesis is made, and the deficiency in the project and the further development are narrated respectively. |
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