Positional control of a parallel kinematics mechatronic manipulator linear drive

Abstract

The research is part of the current work on the design and research of precision actuators with parallel kinematics, designed to guide and orient of various objects. To protect the sensitive load and the supporting platform from undesirable disturbances above the permissible ones, as well as to limit the time of transient processes and the consumed power, a method for planning the trajectory of the linear actuator stem when operating in positional mode is proposed. The article describes an algorithm for calculating the parameters of the trajectory of an object under specified restrictions on speed, acceleration and acceleration derivative, and also proposes an algorithm for implementing control along a planned trajectory for a modern microprocessor system, which implements the dependence of speed on movement. The advantage of the proposed control method is the elimination of the cumulative effect of the static displacement error while observing dynamic constraints, as well as the possibility of using algorithms in both closed-loop and open-loop drives based on various types of electric motors. The article presents the results of computer simulation of an open-loop drive operating according to the proposed algorithm, the advantages and disadvantages of this approach are noted.