QFT Robust Controller Design and Experiment Research of Electro-hydraulic Driving Parallel Robot

摘要：

Electro-hydraulic driving 6-dof parallel robot suffers from non-linearity, strong load coupling disturbance and parameters variations when it moves. In order to solve the problem of precise trajectory tracking for 6-dof parallel robot, a decentralized control strategy was used and a 2-dof QFT robust controller was designed in the joint space of robot. Experiment results show that the 2-dof QFT robust controller is strongly robust for parameters variations, has the ability of attenuating load coupling disturbance force among channels and realizes the trajectory tracking precisely. This control method proposed here has a universal application value for the robust control system desin of other parallel robots.

关键词： 6-dof parallel robot electro-hydraulic servo control system robust controller QFT

作者: Bo Wu Zhiwei Wang Fang Wang Xinyan Liu Shenglin Wu

作者单位: College of Mechanical and Power Engineering Harbin University of Science and Technology Harbin, Chin School of Mechatronics Engineering Harbin Institute of Technology Harbin, China

会议类型: 国际会议

会议名称: The 2010 International Conference on Computer Application and System Modeling(2010计算机应用与系统建模国际会议 ICCASM 2010)

会议地点: 太原

会议语种:英文

页码: 653-657

在线出版日期: 2010-10-22（万方平台首次上网日期，不代表论文的发表时间）