并联机器人数字化设计平台关键技术分析-analysis on key technologies of parallel robot digital design platform.docxVIP

The research investigates systematically novel integration methods between existing robotic control algorithms, e.g. the combination of ADRC (Active Disturbance Rejection Control) and traditional control algorithms. The effects of ADRC, input shaping, PDFF-I/II on the precision of robot trajectory and the effects of vibration suppression are experimented. Some rules of thumbs for customized control algorithm integration are proposed. All the algorithms are coded into the robot control algorithm library.RoboDev, the digital design platform of robots, is developed based on above technologies. The validity of our integration methods and our supporting databases is proved by simulations of typical parallel robots.Key words ： Digital Design Platform; Parallel Robots; Software Platform Framework; Supporting Databases; ADRC目录中文摘要.........................................................................................................................IAbstract..........................................................................................................................II目录..............................................................................................................................IV图清单....................................................................................................................... VIII表清单........................................................................................................................... X字母注释表..................................................................................................................XI第一章 绪论.................................................................................................................. 11.1 课题概述....................................................................................................... 11.1.1 研究背景............................................................................................. 11.1.2 研究意义.....................................................