Modeling analysis and movement control of a 6-DOFs parallel robot with redundant drives

摘要

This paper mainly presents the dynamic characteristics and method of movement control of the 8 inputs 6-DOF parallel robot with redundant drives. First it describes the restriction terms of the robot's kinematics modeling, analyzes its kinematics characteristic, and then develops the dynamic modeling which is based on the Lagrange equation and designs the fuzzy self- adaptive PID control. At last, simulate the kinematics modeling, dynamic modeling, fuzzy self-adaptive PID control. The simulation testing shows that the method is correct and the control method is effective, and provides the accords for parameter selecting and control projecti nstituting.