东北大学学报:自然科学版 ›› 2014, Vol. 35 ›› Issue (10): 1512-1515.DOI: 10.12068/j.issn.1005-3026.2014.10.032

• 机械工程 • 上一篇    下一篇

基于Clipper的3-TPS混联机器人运动轨迹控制

史家顺,王凯,朱立达,王宛山   

  1. (东北大学 机械工程与自动化学院, 辽宁 沈阳110819)
  • 收稿日期:2014-04-23 修回日期:2014-04-23 出版日期:2014-10-15 发布日期:2014-05-19
  • 通讯作者: 史家顺
  • 作者简介:史家顺(1963-),男,辽宁沈阳人,东北大学副教授;王宛山(1946-),男,辽宁沈阳人,东北大学教授,博士生导师.
  • 基金资助:
    国家自然科学基金资助项目(51105258);辽宁省自然科学基金资助项目(201202055)

Trajectory Control of 3TPS Hybrid Robot Based on Clipper Controller

SHI Jiashun, WANG Kai, ZHU Lida, WANG Wanshan   

  1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China.
  • Received:2014-04-23 Revised:2014-04-23 Online:2014-10-15 Published:2014-05-19
  • Contact: SHI Jiashun
  • About author:-
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摘要: 针对3-TPS混联机器人的空间运动性能要求及自身的结构特点,提出了一种基于Clipper的3-TPS混联机器人开放式数控系统.为了解决该机器人的运动摆头与回转工作台间角度的耦合及由工作台运动造成的工具编程点位置的变化等关键问题,建立了混联机器人运动学位置逆解数学模型.在构建基于Clipper的3-TPS混联机器人数控系统硬件平台基础上,将该机器人的运动学逆解数学模型转换为位置运动控制算法,并在球面上进行了螺旋轨迹实验验证.空间运动轨迹的理论与实验分析结果表明:所设计的数控系统能满足3-TPS混联机器人的控制要求,其运动模型及控制算法正确、可行.

关键词: 3-TPS混联机器人, Clipper控制器, 运动学逆解, 轨迹, 建模

Abstract: An open CNC system of 3TPS hybrid robot based on the Clipper controller was proposed according to the characteristics of motion performance and structure of 3TPS hybrid robot. To solve the key questions of the angle coupling swing head with rotary table and variant of tool edit position by rotary table motion, a mathematical model of inverse kinematics position was established for the hybrid robot. The model was transformed to the position motion control algorithm based on the hardware platform, and the experiment of spiral trajectory was conducted on the sphere surface. The results showed that the control system can satisfy in control command of robot, the kinematics model and control algorithm are accurate and reasonable.

Key words: 3TPS hybrid robot, Clipper controller, inverse kinematics, trajectory, modeling

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