Abstract
In order to better track the planned trajectory of Delta high-speed parallel robot, this paper proposes a dynamics control strategy for Delta high-speed parallel robots based on the linear active disturbance rejection control (LADRC) strategy which realizes decoupling control through observing and compensating the coupling and internal and external disturbances between the three joints. Firstly, the structure and dynamics model of the Delta high-speed parallel robot are analyzed, respectively. Secondly, the control scheme of the Delta high-speed parallel robot dynamic LADRC strategy is constructed, and then, the system stability is analyzed. Taking a representative 8-shaped space helical variance trajectory as a given input of the system and a triangular wave as an external disturbance as given disturbance input of the system, simulations are carried out to demonstrate the effectiveness of the proposed LADRC strategy; results indicate that the system with the LADRC strategy has a good quick and precise real-time trajectory tracking and strong robustness.
Highlights
In literature [7,8,9,10,11], starting from the robot joint or joint drive servo system, PD control, PD + speed feed-forward, PD + position feed-forward, a nonlinear combination of PID parameters, online optimization of PID parameters, fuzzy self-tuning PID, and other controllers as well as various dynamic compensation controllers are used to enable the robot joints to track the given trajectory curve. e method of calculating torque control is to simplify the dynamic model of each joint and carry out decoupling control, which can achieve linear control of each joint
Active Disturbance Rejection Controller (ADRC) has the advantage of being model independent, and Generalized Proportional Integral Observer (GPIO) was used instead of Extended State Observer (ESO), which has a better performance comparing with the calculated torque
In the last few years, Professor Gao Ziqiang proposed the linear active disturbance rejection control method [31] (LADRC) which mainly deals with the linearization of the Extended State Observer and the error feedback combined controller, which is convenient for stability analysis and parameter tuning by using the frequency domain method
Summary
In literature [7,8,9,10,11], starting from the robot joint or joint drive servo system, PD control, PD + speed feed-forward, PD + position feed-forward, a nonlinear combination of PID parameters, online optimization of PID parameters, fuzzy self-tuning PID, and other controllers as well as various dynamic compensation controllers are used to enable the robot joints to track the given trajectory curve. e method of calculating torque control is to simplify the dynamic model of each joint and carry out decoupling control, which can achieve linear control of each joint. In literature [12,13,14,15,16,17], the dynamics control of the robot is realized based on the computational torque control method which achieves a good trajectory tracking control. The performance of the controller is improved by combining the artificial intelligence method with PID control, calculation torque method, and sliding mode variable structure control, such as the achievements in literature [11, 20, 27,28,29]. Motivated by the aforementioned analysis, this paper proposes an LADRC strategy to apply to the dynamic stability control of Delta high-speed parallel robot for the first time.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
