Strategies Study On High-Speed Parallel Robot With Optimal Control

In this thesis two degrees of freedom manipulator joint operation between the coupling and high-speed run-time dynamic model with inaccuracy and the operation of the reciprocating, that generate jump through the big problems which is caused by jitter. In this thesis designed robot ADRC nonlinear controller and the torque based on sliding mode adaptive feedforward compensation of nonlinear controller. It based on the entire robot system electromechanical coupling system parametric model control algorithm planing the trajectory and the simulation carried out, and use genetic algorithms to solve the problem. Use the cubic spline interpolation space for the robot operation track to complete the structures of the experimental system, control system software programming and experimental.First, the thesis analysis the actual robot control of the PD control strategy generally caused by the key position of the robot tracking accuracy is not high, super-cross large disadvantage, disturbance rejection control design algorithms to solve the ultra-bar and precision tracking.Second, With high-speed process control requirements, combined the uncertainty of the system dynamic equations, design sliding mode adaptive control algorithm to solve the mechanical arm under high speed precision tracking. And motor current for the shortcomings of excessive noise, an adaptive kalman filter algorithm and identificate the load troque.Third, the combination of SimMechanics toolbox to build the whole robot system electromechanical coupling parameters of the system model, the designed control algorithm is analyzed and verified.Fourth, because the entire robot system in the high-speed operation, the mechanical part of the large jitter, and the motor output speed and acceleration, and torque and power characteristic of the trajectory planning of the objective function. Take the dynamics and kinematics of joint as the constraints, using a genetic algorithm are optimized, and ultimately using cubic spline curve mapped out the trajectory of the robot joint space, and the established parameters of the system of electromechanical coupling model were tested.Fifth, built the control system platform. Use Texas Instruments (TI) of the DSPTMS320F 28335 complete control algorithm calculation and regulation of the position loop, the drive to finish the speed loop and current loop operation. DSP real-time control program was prepared, the program were built with C language, and test the design control algorithms.