METHOD FOR CONTROLLING A VERY HIGH SPEED PARALLEL ROBOT USING A SYNCHRONIZATION OF MULTI-AXIS MOTION

摘要

PURPOSE: A method for controlling a high-speed parallel robot based on synchronization of multiple axes is provided to effectively control a robot using synchronization errors. CONSTITUTION: A method for controlling a high-speed parallel robot(190) based on synchronization of multiple axes is as follows. The desired trajectory information of each joint is inputted. The present position information of each joint is fed back to a motion control unit(150). A CPU(central processing unit) calculates a tracking error of each joint by comparing the desired trajectory information with the present position information. A synchronization error is calculated using the tracking error of the i-th joint and the tracking errors of previous and next joints of the i-th joint. A PID(Proportional-Integral-Derivative) controller calculates an entire error using the tracking errors and the synchronization error. An entire control input information generating unit generates entire control input using the sum of feedback control information and feed-forward control information. The motion control unit powers each joint.