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【導(dǎo)讀】基于模型的控制六自由度并聯(lián)機(jī)器人。一種新的基于模型的控制器的六自由。度并聯(lián)機(jī)器人（自由度）提出，以便消。除影響平臺(tái)負(fù)載的品種和迫使穩(wěn)態(tài)誤。聯(lián)機(jī)器人基于凱恩方法包括動(dòng)力學(xué)和。運(yùn)動(dòng)學(xué)使用封閉形式的解決方案和牛。頓迭代法是建立在廣義坐標(biāo)系統(tǒng)?；谀Ｐ偷目刂破魇桥c氣缸位置反饋。平臺(tái)，所需的軌跡和動(dòng)態(tài)重力作為輸入。和輸出的伺服閥電流。模擬的并行機(jī)器人控制器中執(zhí)行?；谀Ｐ头抡妫抡娼Y(jié)果表明，基于模。型的控制器可以減少的影響，負(fù)荷變化。并聯(lián)機(jī)器人已被廣泛研究，由于其高動(dòng)。力重量比和廣泛的應(yīng)用[1-2]。臺(tái)后，斯圖爾特說(shuō)明使用這種平行結(jié)構(gòu)。[3]，它也被稱為高夫平臺(tái)，高夫提出。螺旋理論和列舉的有前途的運(yùn)動(dòng)學(xué)結(jié)。和陽(yáng)[6]采用牛頓-歐拉法求解逆動(dòng)力。學(xué)假設(shè)斯圖爾特平臺(tái)關(guān)節(jié)摩擦和腿不。阮等人[7]已經(jīng)制定了一個(gè)空間自適應(yīng)。控制方案應(yīng)用于機(jī)電驅(qū)動(dòng)斯圖爾特平。圖爾特平臺(tái)銑削單元。hatip和ozgoren[9]提出了動(dòng)態(tài)控制策略斯。諾列加等人[10]提出了一個(gè)神經(jīng)網(wǎng)絡(luò)?？刂品桨?，在運(yùn)動(dòng)控制方面顯示出其優(yōu)
【正文】 emonstrates that the PD control with gravity pensation leads the systems to the desired location with zero error, and the controller can achieve high speed tracking of trajectories of the system and decrease the influence of platform load variety to the system. 比較結(jié)果表明，該控制重力補(bǔ)償導(dǎo)致系統(tǒng)所需的位置與零誤差，和控制器可以實(shí)現(xiàn)高速跟蹤軌跡的系統(tǒng)和減少的影響負(fù)荷變化的系統(tǒng)平臺(tái)。 CONCLUSIONS 結(jié)論 A novel modelbased control for 6DOF parallel manipulator is studied 一種新的基于模型的控制六自由度并聯(lián)機(jī)器人的研究 The mathematical model is built, including the multirigid body dynamics model using Kane method and the forward kinematics with NewtonRaphson method and the inverse kinematics with closedform solution. 數(shù)學(xué)模型的建 立，包括多剛體動(dòng)力學(xué)模型和運(yùn)動(dòng)學(xué)凱恩方法與牛頓法和逆運(yùn)動(dòng)學(xué)封閉解。 The control law of PD with gravity pensation controller is developed in the paper。 the inner loop feedback controller employed dynamic gravity term, forward kinematics and Jacobian matrix between generalized coordinate and cylinder length and yielded 低控的重力補(bǔ)償器 PD 在紙上提出，在雅可比矩陣，廣義坐標(biāo)和汽缸長(zhǎng)度的內(nèi)環(huán)反饋控制器采用動(dòng)態(tài)重力，產(chǎn)生伺服閥電流 servovalve currents. The performance of steady and dynamics states is analyzed. 性能穩(wěn)定和動(dòng)力學(xué)性態(tài)分析。 Simulation results demonstrate the steady state errors of the system due to gravity of platform systems are converge asymptotically to zero and the controller with finer robustness reduced the influence of platform load variety to system. 仿真結(jié)果表明，穩(wěn)態(tài)誤差的系統(tǒng)由于重力平臺(tái)系統(tǒng)是漸近收斂于零 ， 該控制器與精細(xì)的魯棒性減少的影響，各種系統(tǒng)平臺(tái)。 The superior modelbased control for 6DOF parallel manipulator is obtained. 優(yōu)越的基于模型的控制六自由度并聯(lián)機(jī)器人獲得。 The controller not only can be used in hydraulic driven 6DOF parallel manipulator, but also canbe applied in other system. 該控制器不僅可以用在液壓驅(qū)動(dòng)六自由度并聯(lián)機(jī)器人，也可適用于其他系統(tǒng)。 REFERENCES [1] M. Honegger, R. Brega, and G. Schweitzer, “Application of a nonlinear adaptive controller to a 6DOF parallel manipulator,” Proc. 2020 IEEE Int. Conf. Robotics and Automation, IEEE Press, Apr. 2020, pp. 19301935. [2] J. P Merlet, Parallel robots, Netherlands: Kluwer Academic Publisher, 2020. [3] D. Stewart, “A platform with six degrees of freedom,” Proc. Inst. Mech. Engrs, 1965, pp. 371–386. [4]J. P. Merlet, “Parallel manipulators: state of the art and perspectives,”Adv. Robot., pp. 589–596, 1994. [5] , “Structural kinematics of inparallelactuated robotarms,” ASME J. Mech. Trans. Autom. in Design, pp. 705712, 1983. [6] and D. C. H. Yang, “Inverse dynamic analysis and simulation of a platform type of robot,” J. Robot. Syst., pp. 209227,1988.. [7] , S. S. Antrazi, Z. L. Zhou, and C. E. Campbell, “Adaptive control of a Stewart platformbased manipualtor,” J. Robot. Syst., vol. 10, pp. 657687, 1992 [8] , D. W. Dawson, and F. L. Lewis, “Modeling and control of a Stewart platform manipulator,” Proc. ASME Symp. Control of Systems with Inexact Dynamic Models, 1991, pp. 8389. [9]O. E. Hatip and M. K. Ozgoren, “Utilization of a Stewart platform mechanism as a stabilizator,” Proc. 9th World Cong. Theory of Machines and Mechanisms, 1995, pp. 13931396. [10]J. R. Noriega and H. Wang, “A direct adaptive neuralwork control for unknown nonlinear systems and its application,” IEEE Trans. Neural Netw., vol. 9, pp. 2734, Jan. 1998, doi: [11] I. Davliskos and E. Papadopoulous, “Modelbased control of 6DOF electrohydraulic Parallel manipulator platform,” Mech. Mach. Theory,2020,doi:[12] N. I. Kim and C. W. Lee, “High speed tracking control of Stewart platform manipulator via enhanced sliding mode control,” Proc. 1998 IEEE Int. Conf. Robotics and Automation, IEEE Press, , pp. 27162721 [13] , and ,”Kinematics,dynamics and construction of a planarly actuated parallel robot,” .— ,vol. 14,pp. 163172,1998
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