The Research On Space Docking Control Of Six Degree Of Freedom Parallel Robot

This paper studied the 6-PTRT parallel robot that is droved by AC serve motors. The main target is to study the basic problems on the space docking control of the 6-PTRT parallel robot for further research.The human-machine interface is based on VC6.0. It is achieved to show the real-time motion curves including the ideal speed curves, the real speed curves, the speed error curves, and the speed experimental data including the real speed data and the error speed data, to save the experimental speed data as a access table, to show the alarm and to operate the robot system.The inverse solution is the most important basis for the space docking control. The formula of the inverse solution would be got by the analysis of mechanical structure in several ways such as rotation method, analytical method and graph method. It is a great cake for further research.The speed control and position control are the basic problems for the space docking control. It is divided into two groups, that is, the single freedom speed control and the speed control in a normal.The single freedom speed control is one of the speed controls in the same control-parameters, that is, controlling a single axis. The chapter of the single freedom speed control consists of five parts, the first is a planning of speed curve, the second is the principle of speed encoding, the third is software filtering, the forth is the software chart, the last is the experimental datas and the analysis of experimental data.Generally speaking, the speed control, that is, the speed control in the different control parameters, is used in the space docking control. The equations of speed, displacement and running time of 6 axises are showed in this chapter. The space docking control is worked out by the equation and the conclusion of the third charter and the forth one. All the ideas are confirmed by experiments.