High-Efficiency Model-Based Control of 6-DOF Parallel Robot Using Position Measurement Only

摘要

The trajectory tracking problem for the 6- degree-of-freedom (DOF) parallel robot is analyzed in this paper,which is a typical multi-input multi-output (MIMO) systems control issue.A novel high-efficiency model-based control scheme is proposed based on the off-line multi-body dynamics of the parallel robot,which extensively enhances the on-line computation efficiency.Moreover,the velocity signals are not required in the proposed feedback control scheme by introducing the extended state observer (ESO),which solves the performance degradation caused by the measurement noise of velocity signals in practice.Finally,an electrical 6-DOF parallel robot is employed to verify the advantages of the proposed controller in comparison with the enhanced PID controller.