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首页> 外文期刊>Nonlinear dynamics >Mathematical modeling, control, computer simulation and laboratory experiments of a spatial servopneumatic parallel robot - Part II: Robot construction and laboratory experiments
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Mathematical modeling, control, computer simulation and laboratory experiments of a spatial servopneumatic parallel robot - Part II: Robot construction and laboratory experiments

机译：空间伺服气动并联机器人的数学建模，控制，计算机仿真和实验室实验-第二部分：机器人的结构和实验室实验

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摘要

In this paper, the special construction of a parallel robot, called spatial servopneumatic multi-axis test facility, will be discussed. The investigations include the following aspects: (i) the laboratory set-up of the robot, (ii) various results obtained in laboratory experiments, taking into account quite different control algorithms and command-input signals, (iii) a comparison of the laboratory experiments with the computer simulations of Part I of this paper, and (vi) a quality check of the results compared with the cost of the different controller realizations. The results of both the computer simulations and the laboratory experiments show: (i) The dynamic behavior of the parallel structure can be tremendously improved by using sophisticated nonlinear control algorithms. (ii) This improvement has to be paid by a drastically increased amount of work for deriving the model equations and control algorithms, and by augmented hardware cost of the sensing elements and controller electronics. (iii) Carefully developed model equations and identified model parameters provide theoretical models of the complex parallel structure that are very close to reality. This enables the design engineer to systematically investigate constructive alternatives of the design parameters, sensor and actuator concepts, and control strategies of the MAP prior to their hardware realization.
机译：在本文中，将讨论一种称为空间伺服气动多轴测试设备的并行机器人的特殊构造。调查包括以下几个方面：（i）机器人的实验室设置，（ii）在实验室实验中获得的各种结果，同时考虑到完全不同的控制算法和命令输入信号，（iii）实验室的比较本文第一部分的计算机仿真实验，以及（vi）与不同控制器实现成本相比对结果的质量检查。计算机仿真和实验室实验的结果均表明：（i）通过使用复杂的非线性控制算法，可以大大改善并联结构的动态性能。 （ii）必须通过大量增加用于推导模型方程式和控制算法的工作以及通过增加传感元件和控制器电子设备的硬件成本来弥补这一改进。 （iii）精心开发的模型方程式和确定的模型参数提供了非常接近实际的复杂并行结构的理论模型。这使设计工程师能够在硬件实现之前，系统地研究设计参数，传感器和执行器概念以及MAP控制策略的建设性替代方案。

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