Parallel Link Robot Simulink And Position Reverse Solution Research

This paper mainly studies the control of6DOF platform. The feasibility of the algorithmis to be verified by the simulation experiments and the real-time control experiments in xPCenvironment.Firstly, the coordinate-transformation matrix between static coordinate system and bodycoordinate system can be gotten by the matrix analysis method, and also the coordinate matrixof the rounded support can be gotten. The equations of position reverse solution of the6DOFplatform can be established through making sure of the relationship between the change of thehydraulic cylinder length and the position of the platform. Secondly, a Simulink Model is becreated by using the MATLAB/Simulink. Through the computer simulation, the change ofthe hydraulic cylinder length can be solved by the position and orientation given by the user.Then make sure whether the equations of position reverse solution is correct or not bysimulating the Simulink Model. The module of rate limiter is added into the simulink Modelin order to input the signal smoothly. Finally, the platform is controlled in real time by xPC.The xPC target application which can be put into use in the real time control is based on theSimulink Model. Through the comparison with experimental data in real-time control andsimulation experimental data, the feasibility of the algorithm can be verified.This papar studies the core part of the parallel link robot. Through the comparison withexperimental data in real-time control and simulation experimental data, the feasibility of thealgorithm can be verified, and the control system which is based on the algorithm can be usedin the control of the parallel link robot.