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Web of Proceedings - Francis Academic Press
Web of Proceedings - Francis Academic Press

Research on Optimal Acceleration and Deceleration Control Algorithm for High-speed Parallel Manipulator

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DOI: 10.25236/systca.18.062


Lingzhen Sun, Shuo Ye

Corresponding Author

Shuo Ye


Supported by the National Natural Science Foundation of China (NSFC) "Integrated optimization design of high-speed parallel mechanism based on motor performance parameters". Taking Delta parallel manipulator with three degrees of freedom as an example, the rigid body dynamics modeling of manipulator is taken as an example. And motion control methods from two angles. The control method of improving manipulator speed and grasping and releasing precision based on the dynamic model of manipulator is studied systematically. With the help of vector method, constraint equation and kinetic energy theorem, the position inverse solution model, velocity Jacobian matrix and mass inertia matrix of manipulator are constructed respectively. On this basis, the rigid body dynamic model is established by using the principle of virtual work, which provides the necessary theoretical premise and technical basis for trajectory planning and manipulator control. The algorithm can effectively compensate the tracking error caused by dynamic factors by combining PID feedback with nonlinear feedback. In addition, the influence of various trajectory planning methods on control is compared, and the optimal control is selected to improve the control performance.


High speed parallel manipulator, trajectory planning, simplified rigid body dynamics model