CONTROL SYSTEM OF PARALLEL MECHANISM

摘要

PROBLEM TO BE SOLVED: To provide a control system of parallel mechanism which obtains a work coordinates variable X from a driving joint coordinates variable q not using the inverse matrix J-1of Jacobian matrix J and the inverse matrix J-T of the transposition matrix, and which can carry out feedback control of the difference between a target work coordinates variable Xr and the obtained work coordinates variable X to the driving amount of servomotors 33-35. SOLUTION: In this system, an estimated value Xc of a work coordinates variable is transformed to an estimated value qc of a driving joint coordinates variable at an inverse kinematics processing part 6, a Jacobian transposition matrix JT is multiplied by gain K and is integrated so that the difference of qc and an actual driving joint coordinates variable qd is dissolved, and the result is fed back to the estimated value Xc of the work coordinates variable, and PD control is performed so that the difference of the obtained estimated value Xc and a target work coordinates variable Xr is dissolved; at the PD control, J.Kp.JT or J.KD.JT is used in place of gain KP, KD to avoid the processing at KP.J-T or processing at KD.J-T, thus J-T is not necessary because of JT.J-T=1. COPYRIGHT: (C)2004,JPO