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

Abstract

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

CLC Number:

TP24

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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Research Progress on Control Technology of Multi-Degree of Freedom Parallel Robot

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