农业机械学报2017，Vol.48Issue(5)：390-396,7.DOI:10.6041/j.issn.1000-1298.2017.05.050
柔性并联机器人非线性摩擦动力学建模与速度规划
Nonlinear Friction Dynamic Modeling and Velocity Planning of Flexible Parallel Robot
摘要
Abstract
In order to realize control of robot in high speed and accuracy,Lagrange method was applied to deduce dynamic model and nonlinear friction force dynamic compensation model based on Hensens & Kostic theory.The single point positioning error was analyzed before and after compensation.A kind of S type velocity planning method was designed based on the constrain model of maximum speed and acceleration.Performance test in real time was implanted between T and S types velocity control algorithm about position and speed tracing.The experiment data indicated that the maximum position tracking error and speed tracking error of T type velocity planning were increased to 78.1 μm and 11.4 mm/s.But those of S type velocity planning were only 37.8 μm and 3.72 mm/s.Location accuracy of S type planning at two termination points reached 8.1 μm and 8.9 μm.The maximum speed difference of S type planning was 1.74 mm/s which was much smaller than 6.88 mm/s of T type velocity planning.High precision of position control especially termination-point location was ensured by S type velocity planning algorithm.Its peak velocity mutation was much smaller and velocity curve was also smoother compared with that of T type velocity control algorithm.It was demonstrated that speed tracing performance and stability of motion were improved greatly.The contradiction of T type velocity planning existed between high speed movement and high precision control was effectively relieved.So S type velocity planning was much easier to realize the control of robot in high speed and accuracy.In order to verify the correctness of the simulation analysis conclusions,position error of robot was tested by laser interferometer under continuous motion at different speeds.Simulation data was less than experiment data.The data error was about 100 μm between simulation and actual measurement.But the conclusions were consistent with the experiment.The validity of the simulation analysis method was verified.关键词
柔性并联机器人/非线性摩擦/动力学/速度规划/误差Key words
flexible parallel robot/nonlinear friction/dynamics/velocity planning/error分类
信息技术与安全科学引用本文复制引用
赵磊,范梦然,赵新华,周海波,栾倩倩..柔性并联机器人非线性摩擦动力学建模与速度规划[J].农业机械学报,2017,48(5):390-396,7.基金项目
国家自然科学基金项目(51275353、51275209)、天津市应用基础与前沿技术研究计划重点项目(14JCZDJC39100)、天津市高等学校科技发展基金计划项目(20140401)和天津市智能制造重大科技专项(15ZXZNGX00040、15ZXZNGX00270) （51275353、51275209）
