| 冗余并联机构的PD控制 |
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| 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. |
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| 作者姓名： | 吴宇列 吴学忠 李圣怡 |
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| 作者单位： | 国防科技大学机电工程研究所, |
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| 基金项目： | 海外青年合全研究基金 (5 0 0 2 95 0 1) |
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| 摘 要： | 采用并联机构的简化树动力学模型 (reducedtreemodel) ,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
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| 关 键 词： | 冗余 并联机构 动力学 PD控制 |
| 文章编号： | 1001-2486(2001)03-0111-04 |
| 收稿时间： | 2000/12/20 0:00:00 |
| 修稿时间： | 2000年12月20 |
PD Control of Redundant Parallel Manipulators |
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| WU Yulie,WU Xuezhong and LI Shengyi.PD Control of Redundant Parallel Manipulators[J].Journal of National University of Defense Technology,2001,23(3):111-114. |
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| Authors: | WU Yulie WU Xuezhong and LI Shengyi |
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| Affiliation: | Institute of Mechatronics Engineering, National Univ. of Defense Technology, Changsha 410073, China;Institute of Mechatronics Engineering, National Univ. of Defense Technology, Changsha 410073, China;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 |
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| Keywords: | redundancy parallel mechanisms dynamics PD control |
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