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Research On High-speed High-precision Three-axis Parallel Robot With The Extension Adaptive Control Techniques

Posted on:2013-02-02Degree:MasterType:Thesis
Country:ChinaCandidate:M Z MaFull Text:PDF
GTID:2248330371494001Subject:Mechanical and electrical engineering
Abstract/Summary:PDF Full Text Request
With continuous development of our industry, speed and precision of the robot putforward more and more high demand. For example, food, electronic, mechanicalindustries in product packaging, parts sort they require actuators to high speed, highprecision to complete. However, in high speed, high precision of a case, with parallelmechanism itself closed chain structure and inertia constraints the influence of factors,the use of the traditional control method, make parallel robot end actuator is difficult toreach the demand of precision, to be very good for high speed and high precision threeaxis parallel robot control, requests its control system can online decision, onlinecontrol.Using the adaptive control technology is good at adjusting the parameters of theuncertainty system and the extension control technology is good at dealing with fast bythe time variance and problems good characteristic,the advantages of the two kinds ofcontrollers were combined up to high-speed, high-precision three-axis parallel robotintelligent control.The main contents of this article are as follows:1. Through the domestic and international three axis parallel robot controltechnology, in view of this topic research content, the paper proposes the extensionadaptive control method for high speed and high precision three axis parallel robotextension adaptive control.2. Through study and research of the parallel robot dynamics modeling andintelligent control technology, using the adaptive control technology is good at adjustingthe parameters of the uncertainty system and the extension control technology is good atdealing with fast by the time variance and problems good characteristic, the two controlmethod organic union, construct a new adaptive control algorithm extension.3. Control system hardware architecture planning and design, PC+motion controlcard to control the hardware structure, combined with the subject function, design and configuration of the interface between the motion control card and servo drives, thedesign of the high-speed, high-precision three-axis parallel machine extension andadaptive control of a hardware system.4. In order to verify the feasibility and reliability of the theory, using Simulinkfunctions to build a high-speed, high-precision three-axis parallel robot to developadaptive control model, the extension and adaptive control methods and computedtorque method, the axis parallel robot control performance for comparative analysis,simulation results show that low-speed case, the control effect of the two controlmethods less; but in the high-speed case, the extension and adaptive control methodscontrol the effectiveness and accuracy is superior to computed torque method.The innovation of this project are as follows:⑴Highly nonlinear, strong coupling and fast time-varying characteristics ofparallel robots, the use of extension control good at dealing with the unforeseen, fasttime-varying and mutant extension control and adaptive control combined to construct anew type of parallel robot control method.⑵Extension and adaptive control with parallel robot dynamic model of thecombination use the simulink functions to build a simulation model based on theextension and adaptive control of parallel robot. Simulation results show thecharacteristics of high-speed movement, the control method with the traditional controlcompared with high precision trajectory control effect.
Keywords/Search Tags:High-speed, High precision parallel robots, Extension adaptive control, Simulation
PDF Full Text Request
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