科研之友
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摘要
In view of the poor tracking accuracy of the moving platform of the robot when the existing linear servo control in the motor is used，the trajectory tracking of the 3-CRU parallel robot with linear position solution was studied based on the control strategy of the combination of feedforward torque compensation and sliding mode variable structure control．Firstly，the dynamic model of the robot including modeling error and external interference was established by using Lagrange equation and the dynamic parameters of the robot were identified．A control strategy combining feedforward torque compensation and sliding mode variable structure control based on linear servo control was designed．Through experimental comparison，the above control strategy not only improves the trajectory tracking accuracy of the robot，but also enhances the robustness of the robot system．At the same time，the linear positive position equation makes the position deviation of the actuated sliders transfer to the moving platform without exponential cumulative growth，which structurally ensures the trajectory accuracy of the moving platform. ? 2023 Huazhong University of Science and Technology.
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