Nonlinear Control Method of Electro-Hydraulic Servo System
For the trajectory planning problem of positional interpolation in Cartesian space for parallel robots,this paper designs a positional interpolation algorithm based on the combination of straight line,circular arc and quaternion in Cartesian space with S-shaped velocity curve.First,this paper summarizes the computational steps for solving the inverse solution of the 6-UCU parallel robot by numerical method;then the mathematical derivation of the position interpolation of straight line and circular arc and the attitude interpolation based on quaternions are carried out respectively,after which the velocity strategy of 7-segment S-shape is analyzed and the chi-square transformation matrix of the combined position interpolation and attitude interpolation is derived by using the normalized time operator;finally,the simulation is verified by Simulink The results show that the algorithm can be successfully applied to the parallel robot;the geometric center point velocity and acceleration of the parallel robot moving platform with the algorithm satisfy the S-shape acceleration and deceleration variation law;the algorithm can reduce the mechanical flexibility impact on the end-effector of the parallel robot.
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