Research On Trajectory Tracking Control Strategy Of Par4 Parallel Robot

The Parallel robot has a series of advantages such as small error,large rigidity,good movement performance and strong bearing capacity,and therefore has very high practical application value.The Par4 four-degree-of-freedom Parallel robot studied in this paper is widely used in product picking and packaging applications due to its advantages of high speed and good stability.In the robot control system,the choice of the trajectory tracking algorithm plays a decisive role in the system performance.Therefore,this topic takes the Par4 Parallel robot as the research object.Based on the research of the trajectory planning of the research group,the trajectory tracking algorithm and the implementation of the motion control are analyzed with the goal of realizing the robot's high-precision trajectory tracking,and the Par4 Parallel robot is analyzed.Trajectory tracking control experiments were performed.First,combined with the mechanical characteristics of the Par4 Parallel robots studied,the force analysis and simplification of the various components of the mechanism are performed,and the effect of the movement,gravity,load,and friction of each component on the torque of the robot-driven joint is calculated.Dynamical equation of torque variation of robotic drive motor.Com Paring Matlab calculation results with ADAMS software dynamic simulation results,the correctness of the kinetic equation was verified.Secondly,the mathematical model of the control object of the Par4 Parallel robot is analyzed and introduced.Combining with the characteristics of the trajectory tracking control system of the Parallel robot,the controller of the system is designed and the controller is divided into two Pars: the tracking controller and the synchronization controller;Tracking controller,com Pared with other control algorithms,adopts PID control algorithm based on disturbance observer to realize position tracking control,and synchronous controller adopts improved adjacent adjacent cross-coupling synchronous control algorithm to realize position synchronization control of four motors;and each of the above The algorithm performs computer simulation and com Pares the results to achieve an optimal trajectory tracking control method.Finally,the motion control system for the Par4 Parallel robot was built.According to the robot's motion performance requirements,system hardware: IPC,motion control card,servo driver,permanent magnet synchronous motor and other devices are selected and configured.Then the trajectory planning and tracking control system design is carried out in Matlab and VC software,including the planning of pick-up and obstacle avoidance trajectory,the entry of planning trajectory,the conversion of motor position and pulse quantity,motion control program,read motor real-time position and motion Information,system status display and other modules.Based on this,using Par4 Parallel robot prototype,the trajectory planning and trajectory tracking control experiments for picking and obstacle avoidance were conducted.The feasibility of the control algorithm was verified,and the Parallel robot was able to complete the operation better.