Study On The Dynamic Control Of A 2-DOF Redundantly Actuated Parallel Robot

Parallel robot has the advantages of high rigidity, high precision, good dynamic performance and strong bearing capacity. At present it has been widely applied in industry.The redundant driving parallel robot using the redundancy characteristics can fully or partially eliminate singularities, optimize joint driving force, so improve its the dynamic performance.But because the redundant driving parallel robot has the features of strong coupling and nonlinear dynamics and is limited by the complexity of structure and drive mode, increasing certain difficulty of the research work of parallel robot dynamics and dynamic control. In this paper, using the 2-DOF redundantly actuated parallel robot as the research object for studying the dynamic analysis and modeling, control method and trajectory tracking control experiments so as to provide a theoretical basis for the control study of such institutions.First of all, the 2-DOF redundantly actuated parallel robot dynamics problem is studied.It introduced the general dynamics modeling method of robot,combined with Lagrange method and Lagrange-d ’alembert method to analysis and establish dynamics modeling and put forward the optimization method of driving force and solved the problem of the distribution of driving force.Second, the 2-DOF redundantly actuated parallel robot dynamic control method is studied. In this paper,it discussed the two typical control methods: computing torque control and the adaptive fuzzy control. On the basis of the theory of synchronous coupling error control it proposed a nonlinear synchronous control method. With the help of MATLAB/Simulink software, it used the above three kinds of control method for dynamic simulation of the parallel robot, the simulation results show that the accuracy of the three control methods and the superiority of nonlinear synchronous control method.This paper also expounds the hardware environment of nonlinear synchronous control system. Based on Visual C++6.0 programming, it designed the real-time control software for the parallel robot trajectory planning and tracking simulation. The simulation results show that the nonlinear synchronous control for trajectory planning of the parallel robot has higher control precision.Finally, combining with GPM experiment platform, it respectively used computing torque control method and synchronous control method for trajectory tracking control experiment of the 2-DOF redundantly actuated parallel robot. It further verified the superiority and effectiveness of the nonlinear synchronous control method, so it laid the foundation for further research of redundant parallel robot.