Control Parameters Design Based on Dynamic Characteristics of a Hybrid Robot With Parallelogram Structures

被引：9
|
作者：
Liu, Zilin [1 ,2 ,3 ]
Wu, Jun [1 ,2 ,3 ]
Wang, Liping [1 ,2 ,3 ]
Zhang, Binbin [1 ,2 ,3 ]
机构：
[1] Tsinghua Univ, State Key Lab Tribol, Dept Mech Engn, Beijing 100084, Peoples R China
[2] Tsinghua Univ, Inst Mfg Engn, Dept Mech Engn, Beijing 100084, Peoples R China
[3] Beijing Key Lab Precis Ultra Precis Mfg Equipment, Beijing 100084, Peoples R China
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2021年 / 26卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Dynamics; Service robots; Kinematics; Mechatronics; Tuning; Vehicle dynamics; Control design; manipulator dynamic; parallel robots; SYSTEM;
D O I：
10.1109/TMECH.2020.3019424
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Control parameter designing is an essential issue for industrial robot applications, in which the dynamic characteristics of robots play an important role. This article investigates the dynamic and control parameter design of a hybrid spray-painting robot with parallelogram structures to improve its tracking performance. The dynamic model of the robot is derived, and its intrinsic dynamic properties, such as time-varying characteristics, decoupling driving properties, and the contribution of each component to the total driving torque, are investigated. Based on the robot dynamic analysis, the comprehensive performance of the robotic mechatronic system is examined, and several principles for control parameter design are presented. Finally, on the basis of the small noise excitation method, a strategy to determine the robot pose for control parameter tuning is proposed. The strategy is experimentally verified to improve the consistency of motion accuracy in the entire workspace effectively.
引用
收藏
页码：1140 / 1150
页数：11
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