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Abstract: A
new tuning method of constant PID parameters for parallel manipulator is
investigated. Considering the mechatronics coupling, characteristics of
the whole workspace and variable inertia load along with the pose, three
trajectories with different weights are selected. Then inverse
kinematics and inverse dynamic model are set up by using vector method
and virtual power principle. Making the minimized following trajectory
errors of end effector as optimized goal, the controller parameters
could be tuned. An example is adopted with one parallel
manipulator-Diamond which is developed by Tianjin University, and the
values of controller parameters can be given according to the above
theory. The problem that the multiobjective functions contradict each
other is also solved. At last, a series of experiments are done for
validating the correctness and validity of the theory.
Key words: Parallel
manipulator Servo system Parameter tuning
CLC No: TP242
国家自然科学基金(50375106), 国家留学基金(2004812032)和汕头大学智能制造技术教育部重点实验室基金(Imtsu-2002-11)资助项目.
Received
20051031, received in revised form 20060409
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