Abstract
This article proposes a new control structure for the complex redundant actuation parallel robot based on force/position hybrid control structure. The traditional proportional–integral–derivative control method, integer-order internal model control method and fractional-filter internal model control–proportional–derivative control method are used in the position structure of force/position hybrid control. The fractional-filter internal model control–proportional–derivative control method is used in the position loop of the permanent magnet synchronous motor to reduce the position error. A fractional-order theory with the internal model control method is used in redundant actuation force control structure, which can improve the control precision of the driving force of the parallel robot. The Admas/Matlab simulation results show that the proposed method outperforms other methods and can obtain good robustness and tracking performance.
Highlights
The mechanism of parallel robot[1,2] is parallel structure, which is different from the traditional serial robot
The hybrid force/position control strategy is applied to 6PUS-UPU redundant actuation parallel robot.[32]
In fractional-order internal model control (FOIMC) algorithm of redundant force branch, fractional-order theory combining with internal model control (IMC) can describe the dynamic change process of the complex system more precisely, which realizes the generalization of integral PID controller and improves the design flexibility
Summary
The mechanism of parallel robot[1,2] is parallel structure, which is different from the traditional serial robot. The hybrid force/position control strategy is applied to 6PUS-UPU redundant actuation parallel robot.[32] Two different low-pass filters are proposed for the speed servo system and the torque servo system, respectively. In the position branches of parallel robot, the performance of FFIMCPD controller, PID controller and integer-order internal model control method (IOIMC) controller are compared. In FOIMC algorithm of redundant force branch, fractional-order theory combining with IMC can describe the dynamic change process of the complex system more precisely, which realizes the generalization of integral PID controller and improves the design flexibility. The structure of this article is as follows: in the second section, we study the dynamics modelling and driving force optimization of the 6PUS-UPU redundant actuation parallel robot. The simulation result of FFIMC-PD method proposed in this article is compared with three-loop and IOIMC control method
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