Control Technology Research Of6PUS-UPU Redundant Driven Parallel Manipulator

With the increasing demands on the control performance of parallel robot,, this paperregards the6PUS-UPU parallel robot as the platform, we systematically researched theparallel robot servo control strategy, force/position hybrid synchronous control technology,mechanical-control system co-simulation technology, and experimented on the prototype.Experiment verified the effectiveness of the proposed control method for improving theperformance of parallel robot control. Specific content as follows:Combined with two degree of freedom control theory and Internal Model Control, weoptimized the parallel robot servo control technology. Based on the original current loopand speed loop, we redesigned the position loop and designed the controller. Finally weproved that the proposed control method can improve control precision and stability of theparallel robot through the simulation.The degree of freedom and torque optimization method of6PUS-UPU redundantparallel robot are determined. The dynamic model of parallel robot and the control modelof redundant drive branch are established. Based on the principle of cross coupling, thehybrid force/position synchronous control strategy and synchronous controller aredesigned. The force/position hybrid synchronization control is realized.We established three-dimensional model of6PUS-UPU parallel robot, andestablished the mathematical model of the servo inner loop of parallel robot. Through theMechanical-control system co-simulation, verified that compared with the PID control, theforce/position hybrid synchronous control on the basis of two degree of freedom IMC hasbetter stability and position tracking performance.Processed the redundant parallel robot force/position hybrid control experiment; theexperiment results verified that the force/position hybrid synchronous control improvedthe control performance of parallel robot.