Research On Time-Optimal Control System Of High-Speed High-Precision Planar Parallel Robot

With the application of robots extending to IC manufacture, ultra-precision machining and high-precision machine assembly, there are more and more demands on speed, precision and efficiency for robots. Under such a background, it has vital significance to promote the development of high-speed high-precision robotics and to speed up its practical and industrial production advancement by carrying out the research on time optimal control system of high-speed high-precision robot.The topic is from the National "973" project "The new principles and methods of high-performance electronic components of digital product design manufacturing". Closely combing with the high-speed high-precision planar parallel position robot developed by the project, we have carried out a deep research on robot control system architecture, time-optimal control algorithm and servo system control algorithm, achieving high-speed and high-precision point to point control and trajectory tracking control.In the aspect of high-speed high-precision control system architecture, the hardware of the system has been selected, which can meet the demand of high-speed high-precision operation. According to the function of the hardware, the control software part has been designed, and a method called cyclic buffer mode has been proposed for robot moving control which can increase the real-time performance of the robot control system. The results of experiments have proofed the method.In the aspect of the time-optimal control algorithm, with the special trajectory, a method for seeking scalar velocity bound curve and scalar acceleration limit has been proposed, which fully considered the dynamics nonlinear. By analyzing the scalar velocity bound curve and combining distribute of acceleration limit, a time-optimal control algorithm was designed. The results of experiments show it can make full use of the capacity of motor while realizing the stability and positioning accuracy of system, solving the problem of time-optimal control.In the aspect of the high-speed high-precision servo system control algorithm,...