Research On Control Algorithm Of 6-DOF Parallel Robot

6-DOF parallel platform structure is very typical,it has a high degree of freedom,high rigidity,high control accuracy,strong carrying capacity and modular production and so on,so its complement as a series of robots,widely used in the operator,motion simulator,parallel machine tools,coordinate measuring machine,medical and aerospace and other aspects,and requires the platform of the movement system has a high control accuracy and faster dynamic response performance.Therefore,the platform control algorithm is a hot issue in six-degree-of-freedom parallel platform study,but also a difficult problem.Firstly,the kinematic analysis of the platform is carried out,and the related kinematics model is established.The inverse kinematics problem is solved,and the desired trajectory of the platform is transformed into the trajectory of the six legs in the control system.After kinematics analysis,the kinetic analysis of the parallel mechanism is carried out on the basis of the kinematics analysis.The six-degree-of-freedom parallel platform is split into six legs and the platform to establish the dynamic model,and then the overall dynamics equation of the parallel mechanism is integrated into a compact form that can be applied to control algorithms.Secondly,three control methods are designed for the Stewart parallel platform controller.The first is Computed Torque,the control principle of the torque is introduced,and then the decoupling controller is designed,The second is the calculation of the torque control algorithm with fuzzy self-tuning device.The fuzzy algorithm is used to set the relevant parameters of the calculation torque.The principle of the fuzzy algorithm is introduced.Then,the fuzzy algorithm self-tuning device is designed.The third is the synovial membrane controller,describes the basic principles of synovial membrane control and a variety of approach rates,and then designed the synovial membrane controller based on approach rate.Finally,the method of MATLAB/Simulink simulation is used to validate and discuss the control effect of Stewart parallel robot in the calculation of Computed Torque,fuzzy adaptive torque control algorithm and synovial control algorithm respectively.At the same time,the method and process of the simulation control system of three kinds of control algorithms are described in detail,and the control results of various control methods are analyzed.Then,a preliminary design of the actual construction of the Stewart parallel platform control system was carried out.