3-RPS并联机器人位置分析及控制仿真

来源期刊：有色金属科学与工程2012年第1期

论文作者：朱大昌 严智敏 崔祥府 李培

文章页码：95 - 100

关键词：3-RPS型并联机器人;位置正/反解;Matlab仿真;PID控制

Key words：3-RPS parallel robot; location inverse solution; Matlab simulation; PID control

摘    要：应用坐标变换法和封闭解法,基于3-RPS并联机器人位置分析,采用Matlab建立3-RPS型并联机器人仿真模型,给定不同状态下的参考输入,通过合理设置PID控制器各项参数进行运动学仿真比较.仿真结果表明：在不同的参考输入的条件下,动平台的位置变化几乎相同,实现了PID控制调平作用,驱动杆实际输出与参考值的偏差在允许范围内波动,控制效果明显,为研究基于并联机器人自动调平提供参考.

Abstract: The position of the 3-RPS parallel robot is analyzed by the method of coordinate transforruation and the position closed-form method. Based on matlab, the simulation model of this robot is established. With the reference input in different condition, the simulation comparison is made through setting the parameters of the PID controller in reason to simulate. The results show that in different reference input condition the c:hanges in the position of the moving platform are almost identical, the effect of PID control leveling is realized and the deviation between the actual output of drive shaft displacement and the reference signal fluctuates in the allowable range7 the control effect is obvious. This provides the information for the study of automatic leveling to the parallel robots.