Control System Development Of A Novel5-DOF Hybird Robot

To meet the requirements of automatic drilling equipments for aerospacestructure in the aeronautical manufacturing industry, this dissertation presents keyissues of control system development of the novel5-DOF hybrid robot EXE-M,including position solution, control system development, rapid home positioncalibration and anti-backlash by double-motor. The following contributions have beenmade.1. A numerical algorithm is proposed for inverse and forward position solution of3-SPR by using iterative method and inverse position solution of serial module isproposed by the method of cyclic search.2. Above all, the hardware platform of control system is developed based on PCand PMAC motion controller. The software architecture is designed and many corecontrol functions are developed. Then, by optimizing termination condition ofalgorithm, search region and search step length, the optimization of inverse positionsolution program in C++is completed. The optimized program can satisfy thereal-time demand. Finally, according to anti-backlash principle, the cross-coupleddrive function is used to develop a high-accuracy position control function for linearmoving unit that use gear and rack drive system.3. An analytical approach is presented for the rapid home position calibration.The Error mapping model is established and the influence of the zero error of thelimbs upon the position error of the moving platform is evaluated by means of asimplified yet valid accuracy analysis, A laser tracker based zero error identificationmodel of the parallel module is formulated, together with appropriate selection ofmeasured points throughout the entire task workspace. The results of numericalsimulation prove the efficiency of the presented home position calibration method.