山东理工大学学报：自然科学版2012，Vol.26Issue(1)：62-66,5.
六自由度并联微动机器人全闭环控制系统研究
Research of closed-loop control of 6-DOF parallel micro motion robot
丰茂1
作者信息
- 1. 国家知识产权局专利局专利审查协作北京中心,北京100190
- 折叠
摘要
Abstract
Taking a three-limb 6-DOF parallel micro motion robot driven by piezoelectric as the object,in order to improve its positioning accuracy,a kind of capacitive sensor which is used to detect the micro-displacement is integrated in the parallel robot.The six-point measurement method is developed to measure the parallel robot＇s pose of 6-DOF at the same time.The method of adjusting displacement recurrently is used to analyze and compensate the error.Based on the research,a method of error compensation is presented.With the feedback signal of the sensors,the closed-loop control is realized by the fuzzy PID control method.关键词
六点式测量法/误差补偿/闭环控制Key words
six-point measure method/error compensation/closed-loop control分类
计算机与自动化引用本文复制引用
丰茂..六自由度并联微动机器人全闭环控制系统研究[J].山东理工大学学报：自然科学版,2012,26(1):62-66,5.
