多自由度并联机器人控制技术研究进展

doi:10.16180/j.cnki.issn1007-7820.2023.11.013

摘要/Abstract

摘要：

为提高多自由度并联机器人的控制精确度和稳定性,基于动力学与冗余驱动分支等技术的控制优化方法逐渐受到学术界的广泛关注及研究。近年来,随着动力学和驱动分支模型的数学表述逐渐清晰并细化,具有多自由度的并联机器人控制精确度与稳定性也得到了进一步提高。文中通过回顾并联机器人控制技术的研究历程,梳理了现阶段相关技术的研究思路及现状,且在此基础上深入挖掘该技术中存在的问题,提出了并联机器人控制技术的未来研究趋势及发展方向。

关键词: 并联机器人, 自由度, 控制技术, 动力学方程, 驱动力矩, 稳定性, 动态特性, 控制难度

Abstract:

In order to further improve the control accuracy and stability of the multi degree of freedom parallel robot, the control optimization methods based on technical models such as dynamics and redundant drive branches have gradually attracted extensive attention and research in the academic community, and a certain number of research results and conclusions have been proposed. In recent years, with the mathematical expression of dynamics and driving branch model becoming clear and refined, the control accuracy and stability of parallel robots with multi-degree of freedom have been further improved. By reviewing the research history of parallel robot control technology, the current research ideas and status quo of parallel robot control technology are summarized. On this basis, the existing problems of parallel robot control technology are deeply explored, and the research trend and development direction of future parallel robot control technology are proposed.

Key words: parallel robot, freedom, control technology, dynamic equation, driving torque, stability, dynamic characteristics, control difficulty

中图分类号:

TP24

罗小青. 多自由度并联机器人控制技术研究进展[J]. 电子科技, 2023, 36(11): 89-94.

LUO Xiaoqing. Research Progress on Control Technology of Multi-Degree of Freedom Parallel Robot[J]. Electronic Science and Technology, 2023, 36(11): 89-94.

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