| 引用本文: | 吴宇列,吴学忠,李圣怡.冗余并联机构的PD控制.[J].国防科技大学学报,2001,23(3):111-114.[点击复制] |
| WU Yulie,WU Xuezhong,LI Shengyi.PD Control of Redundant Parallel Manipulators[J].Journal of National University of Defense Technology,2001,23(3):111-114[点击复制] |
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| 冗余并联机构的PD控制 |
| 吴宇列, 吴学忠, 李圣怡 |
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(国防科技大学 机电工程研究所,湖南 长沙 410073)
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| 摘要: |
| 采用并联机构的简化树动力学模型（reduced tree model），给出了冗余并联结构的动力学方程和基于PD控制策略的控制方法。为了消除冗余并联机构固有的内作用力，给出了一种基于静态力平衡的控制方法。最后，利用一个2自由度的冗余平面并联机构作为控制实例，实验结果表明了控制方法的正确性。 |
| 关键词: 冗余 并联机构 动力学 PD控制 |
| DOI： |
| 投稿日期：2000-12-20 |
| 基金项目:海外青年合全研究基金(50029501) |
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| PD Control of Redundant Parallel Manipulators |
| WU Yulie, WU Xuezhong, LI Shengyi |
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(Institute of Mechatronics Engineering, National Univ. of Defense Technology, Changsha 410073, China)
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| Abstract: |
| Dynamic equations are derived using reduced tree model for close-chain mechanisms. The PD-based control strategy is employed to control the manipulators. In order to eliminate internal forces inherent in redundant mechanisms, a new method based on static force transformation is presented without forces feedback. Finally, a 2-DOF planar redundant parallel manipulator is utilized as the control example. Experimental results show the validity of the derived dynamic model and the proposed control method. |
| Keywords: redundancy parallel mechanisms dynamics PD control |
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