Motion Control Method Research For Continuous Trajectory Of Six Degree Of Freedom Platform

6DOF motion system in the laboratory can be used to simulate the swaying motion of ships in the water. The simulator system adopts 6-SPS parallel robot as the mechanical structure, driven by servo motor. The control precision is higher. Platform can not only realize the six degrees of freedom movement, but also simulate the wave movement in the specific condition, which provides the support vectors for the coordinate control of the mechanical arm in the dynamic plane. Through the motion system, the operator could complete simulation experiments of sea surface in the laboratory.The mathematical model of multi degree of freedom curve is transformed into the actual movement MB-E-6DOF platform. The whole process of control is based on control method and kinematics theory. This paper implements the platform for the trajectory control from the two angles.Firstly, the composition of 6DOF motion platform system is introduced briefly, the platform control box and a servo controller are described and the three closed-loop control of the servo drive is analyzed.Secondly, the article puts forward the concept of instruction and instruction set files,combining with the traditional analysis of control methods to introduce concept significance of instruction and instruction set file. The method of digital signal processing is proposed to solve the continuous track motion problem of parallel mechanism, according to software control mode of the platform upper computer to design a series of control platform plan of continuous trajectory. Platform coordinate system is established by using coordinate measurement method.Combining the inverse position theory,inverse solution model of Matlab is established on the Moog platform. The article analyzes the single degree of freedom motion of sine translation and rotation, examining the accuracy and reliability of the position inverse solution,also analyzing the single degree of freedom method of track control and comparing the Matlab simulation model and software simulation model after the platform motion. After writing the platform control command with the method of instruction set file skillfully,multiple degrees of freedom motion instruction set file achieved on the motion platform is made by the Matlab inverse solution model and the platform software of data acquisition.Finally, the new method is mentioned to solve the problem of position forward solution on the motion platform, which is based on the traditional bp neural network,Newton iterative method and velocity iterative method to design the position forward solution method of rapidity and accuracy. The accuracy of the forward model is verified by using the multiple degree of freedom track movement.