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Design method of position and attitude observer for airborne parallel platform

A design method and observer technology, applied in instruments, computing, manipulators, etc., can solve the problem of expensive sensors

Inactive Publication Date: 2014-06-18
TIANJIN POLYTECHNIC UNIV
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Problems solved by technology

At present, it is usually used to increase the sensor at the appropriate position of the parallel mechanism to obtain redundant information of the mechanism, which can reduce the complexity of the kinematics and dynamics of the mechanism, and realize the linear decoupling between the joint position and the pose of the mechanism, but the sensor is expensive , and there are certain problems in how to install the sensor itself

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  • Design method of position and attitude observer for airborne parallel platform
  • Design method of position and attitude observer for airborne parallel platform
  • Design method of position and attitude observer for airborne parallel platform

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Embodiment Construction

[0014] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0015] The present invention takes the six-degree-of-freedom parallel platform carried by the machine (vehicle) as the research object (such as figure 1 Shown), its fixed platform ④ is fixed on the locomotive (vehicle) body. Since the body has a certain pose during the movement process and cannot always be kept horizontal, the pose of the fixed platform of the machine (vehicle) borne parallel platform is dynamically changed, which is different from the static parallel platform in the past. The position of the worktable is controlled by six parallel telescopic rods ② and universal hinge ① to ensure that the work platform ③ is always in a horizontal state, so that the load posture remains stable during operation.

[0016] (1) Considering the characteristics of the actual system, establish a dynamic model of the airborne platform

[0017] a. First, fully consi...

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Abstract

The invention provides a design method of a position and attitude observer for an airborne parallel platform. According to the design method of the position and attitude observer for the airborne parallel platform, a six-degree-of-freedom parallel machine platform serves as the airborne platform, the position and attitude of a fixed end of the platform dynamically changes along with a body, and the position and attitude of a workbench which is controlled by six parallel extensible rods and universal hinges is always located in the horizontal state; the actual length of the extensible rods is measured through a sensor and the position and attitude of the platform is estimated through a nonlinear observer; a measurement error of the length of the extensible rods serves as an input signal of position and attitude estimation through a state observer; the nonlinear observer is transformed into a linear observer with a nonlinear perturbation through differential homeomorphism for calculation; meanwhile the estimation of a gain matrix is achieved by an automatic differential technology and accordingly the solving speed of the gain matrix is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of robot control, and relates to a design method of a pose observer of an airborne parallel robot platform. Background technique [0002] The parallel robot is a multi-closed-loop mechanism formed by connecting the end effector and the fixed system with multiple independent kinematic chains. It has a series of advantages such as high rigidity, strong bearing capacity, small error, high precision, small self-weight-to-load ratio, and good dynamic performance. It has been successfully used in machining centers, operating robots, sports training devices, micro actuators, micro robots and Multi-dimensional sensors and many other fields, and with its unique closed-loop mechanism composed of parallel robot multi-kinematic chains, it has become a potential high-speed and high-precision motion platform. At present, the research, development and application of parallel robots are becoming more and more extensive, an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00G06F17/50
Inventor 陈奕梅
Owner TIANJIN POLYTECHNIC UNIV
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