Research On Hybird Force/Position Control Algorithm Of An Uncertain Parallel Robot With Actuation Redundancy

Parallel robot has high control precision for the manufacturing precision and control system of the mechanism components.The control has become the key technology and difficulty in studying the redundant driving parallel robot.Because the parallel robot has the characteristics of multi input and multi output,as well as the strong coupling between the driving branches,the pure position control is not suitable for driving the redundant parallel robot.Therefore,this paper studies the force/position control algorithm of 6PUS-UPU redundant drive parallel robot:Firstly,the structure of the 6PUS-UPU parallel robot is analyzed and the dynamic model is got.The minimum method of driving force two norm is used to solve the problem that the driving force has many kinds of input solutions in motion state.According to the vector control,the tricyclic model of AC servo system is established,which provides the basis for the design of force / position controller of parallel robot.Secondly,for the problems of complex structure of 6PUS-UPU redundant drive parallel robot and high control precision,a fractional order internal force / position control method is proposed.Built on the AC servo system,a fractional internal model position controller is designed.The fractional order internal force controller is designed built on the torque model of the force branch.The optimal rational algorithm is utilized to improve the fractional differential operator filter.ADAMS / MATLAB co-simulation validates the effectiveness of the proposed algorithm.Finally,it is difficult to take into account the tracking following and anti-interference performance of the fractional order internal model controller with one degree of freedom.A two-degree-of-freedom fractional-order internal-mode position control method is proposed and it can be adjusted respectively according to the requirements of tracking performance and anti-interference performance;the fuzzy fraction internal force control method is proposed,which reduces the dependency of the controller on the model,further improves the tracking accuracy of the position of the robot control system and the tracking performance of the driving force,and optimizes the internal force of the system.Research work of this paper lays the theory foundation for further research and the engineering application of redundant drive parallel robot,also for other types of parallel mechanism of significance of reference to the experimental study of the theory and application.