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Abstract: A
method of digital PID is used in precise parallel robot for fiber
alignment firstly. This new control method and control system is
introduced in high speed and high precise parallel robot. Additionally,
the inverse kinematics problem in real time conditions is solved by DSP
new technique and the system is stabilized all the more. The
experimental results demonstrate that the new control system and method
may attain to the high technical request of fiber alignment work
entirely in mini-precise parallel mechanism and it presents a new
applied method for controlling and designing of similar high precise and
large work distance mini -orient system.
Key words: Parallel
robot Inverse solution PID control method
CLC No: TP24
国家863计划资助项目(2001AA422120).
Received 30214, received in revised form 20030925
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