液压Stewart主从系统六维控制策略

设计了一种主从手均为液压Stewart机构的主从控制系统,用于操作者以遥操作的方式进行复杂曲面的研磨,避免研磨粉尘对现场工作的工人造成呼吸道伤害。针对该机构需具有六维力反馈的工作要求,采用基于工作空间的四通道力觉双向伺服策略,以降低连杆差异和外界干扰力等非线性因素的影响,提高力反馈精度。在此基础上提出了六维的策略切换控制,解决因从端遭遇刚性冲击引起的主手震荡问题。通过柔性及刚性碰撞实验证明了该策略的有效性。

6-dimension Control Strategy for Hydraulic Stewart Master-slave System

A master-slave system with hydraulic actuated Stewart mechanism in both master and slave sites is built. The system can be used for curved surface grinding work, where the grinding dust may do great harm to the operator. Aiming at the 6-DOF work condition of the system, a new workspace-based four channel bilateral servo control algorithm is designed. The new algorithm may decrease the nonlinear disturbance such as the difference of the cylinders and environment force, thus improve the accuracy of the feedback force. Based on this result, a multi-DOF strategy switch algorithm is proposed. By using different control strategy under the rigid impact time and soft impact, the vibrate problem on the master side during rigid impact on the slave side is solved. An experiment including soft and rigid collisions is implemented to validate the efficiency of the new algorithm.