Study On Pose Error Analysis And Compensation Of Parallel Robot

Pose accuracy is an important performance index of parallel robot, the end outputs of parallel robot pose error is analyzed and compensated so as to eliminate or reduce of the end pose error of the parallel robot is the focus and difficult problems in field of parallel robotics. In this paper, Stewart parallel robot is the research object. The model of pose error is established, on this basis, the error analysis is completed, and then errors compensation from the static and dynamic aspects of the position and orientation are carried out, separately.First, the model of the pose error of Stewart parallel robot is established based on robot inverse kinematics solution using closed-loop vector method and the differential between input and output of the parallel robot; the pose error of parallel robot based on the model is well analyzed, and the Jacobian matrix and Singular Value analysis; and output pose error of the structural parameters error and the position and orientation error is further comprehensive researched.Second, the Ant Colony Algorithm applying for pose error compensation of Stewart parallel robot is proposed on the Error Analysis; for the error of the structural parameters and drive rods, the pose error of Stewart parallel robot compensation is obtained by updating the pheromone to guide the ants search repeatedly and optimizing the error of drive rods. The result of numerical simulation indicates that Ant Colony Algorithm is able to realize the compensation of the pose error of Stewart parallel robot, effectively.Finally, as the motion of parallel robot is continuous trajectory on the project, the resulting error is dynamic. From the control point of view, the parallel robot control compensation system is proposed based on fuzzy PID controller, controller parameters fixed on-line, improving the control effect; the output pose error is dynamic compensated by controlling the dive rods so that a better trajectory can be obtained. Simulation results show the reliability of the system based on adaptive fuzzy PID controller, effectively.