CN117601103B - Swing pose inverse solution control method and system for three-degree-of-freedom parallel motion platform based on error correction and computer storage medium - Google Patents
Swing pose inverse solution control method and system for three-degree-of-freedom parallel motion platform based on error correction and computer storage medium Download PDFInfo
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- CN117601103B CN117601103B CN202311658131.4A CN202311658131A CN117601103B CN 117601103 B CN117601103 B CN 117601103B CN 202311658131 A CN202311658131 A CN 202311658131A CN 117601103 B CN117601103 B CN 117601103B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/003—Program-controlled manipulators having parallel kinematics
- B25J9/0045—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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Abstract
The invention provides an error correction-based three-degree-of-freedom parallel motion platform swing pose inverse solution control method, a system and a computer storage medium, wherein the inverse solution control method is applicable to three-degree-of-freedom parallel motion platforms taking crank-link mechanisms as motion mechanisms, each crank-link mechanism is correspondingly provided with three motion joints, and the three motion joints are respectively as follows: the single rotary joint between the crank and the lower platform is driven by a motor to do rotary motion relative to the lower platform; a single rotary joint of the crank and the connecting rod; and the spherical hinge joint is arranged between the top end of the connecting rod and the upper platform. And defining that an upper hinge point is positioned at the top end of the connecting rod and the spherical center of the spherical hinge of the upper platform, and the hinge point is positioned at the intersection point of the motion plane of the connecting rod and the extension line of the motor rotating shaft. And (3) position inverse solution of the three-degree-of-freedom crank connecting rod parallel motion platform is obtained by utilizing cosine theorem and triangle swing error correction, so that accurate control of crank rotation angle of a crank connecting rod motion mechanism is realized, and inverse solution of crank swing is completed.
Description
Technical Field
The invention relates to the technical field of multi-degree-of-freedom parallel robots, in particular to a swing pose inverse solution control method, a swing pose inverse solution control system and a computer storage medium of a three-degree-of-freedom parallel motion platform based on error correction.
Background
The three-degree-of-freedom crank-connecting rod parallel motion platform is a lightweight multi-degree-of-freedom motion platform, and similar to a traditional motion platform, a plurality of motion components are arranged between an upper platform and a lower platform (a base, the ground and the like), and the position and the posture of the upper platform are controlled based on the swinging motion (the swinging angle change of the crank-connecting rod) of the motion components. In the design of the three-degree-of-freedom crank connecting rod parallel motion platform, the motion part is constructed based on the swing of the motor driving crank connecting rod, and the position and the gesture of the upper platform are controlled through the swing angle change of the motor driving crank connecting rod.
Compared with the traditional electric cylinder type parallel motion platform, the three-degree-of-freedom parallel motion platform realized by adopting the crank connecting rod has the advantages of small volume, simple structure and low cost, but the position inverse solution is more complex than that of the electric cylinder parallel motion platform. At present, a typical inverse solution based on the crank connecting rod parallel motion platform position is to establish a nonlinear equation set by listing a crank end point track equation and the principle that the distance between an upper hinge point and a crank end point is a fixed constant, solve the crank end point position, further solve the inverse solution of the position, obtain an approximate solution by the solution, and have lower control precision on the platform position and the gesture.
Disclosure of Invention
According to a first aspect of the invention, an error correction-based swing pose inverse solution control method for a three-degree-of-freedom parallel motion platform is provided, and cosine theorem and triangle swing error correction are utilized to obtain position inverse solution of the three-degree-of-freedom crank connecting rod parallel motion platform, so that accurate control of crank rotation angle of a crank connecting rod motion mechanism is realized.
As an alternative embodiment, the swing pose inverse solution control method of the three-degree-of-freedom parallel motion platform based on error correction comprises the following steps:
The crank connecting rod mechanism defining the three-degree-of-freedom parallel motion platform and the motion joints between the crank connecting rod mechanism and the upper platform and the lower platform, wherein each crank connecting rod mechanism is correspondingly provided with three motion joints, and the three motion joints are respectively as follows: the single rotary joint between the crank and the lower platform is driven by a motor to do rotary motion relative to the lower platform; a single rotary joint of the crank and the connecting rod; and a spherical hinge joint between the top end of the connecting rod and the upper platform;
Defining the position of an upper hinge point and a lower hinge point;
For any crank connecting rod motion mechanism i, according to the positions of an upper hinge point and a lower hinge point corresponding to the ith crank connecting rod motion mechanism, acquiring an initial inclination angle theta_i and a length L_i of a connecting line of the upper hinge point and the lower hinge point, wherein i=1, 2 and 3;
acquiring an included angle omega_i between a connecting line of the corresponding upper hinge point and the lower hinge point and the corresponding crank according to the positions of the upper hinge point and the lower hinge point corresponding to the ith crank connecting rod movement mechanism;
Solving the coordinates of the upper hinge point after movement according to the position and the posture of the three-degree-of-freedom parallel motion platform;
According to the coordinates of the upper hinge point after movement, acquiring an inclination angle theta '_i and a length L' _i of the upper hinge point after the connection line movement of the lower hinge point;
acquiring an included angle omega' _i between a connecting line of the corresponding upper hinge point and the lower hinge point and a crank after movement according to the coordinates of the upper hinge point after movement;
acquiring the distance L '_i between the upper hinge point after the movement and the tail end point of the crank before the movement and the included angle omega' _i between the connecting line of the upper hinge point after the movement and the lower hinge point and the crank before the movement;
Judging whether the position and the posture of the upper platform exceed the stroke of the crank connecting rod mechanism, if the initial length L' _i of the connecting line between the upper hinging point and the lower hinging point of any group of crank connecting rod mechanisms is larger than SUM or smaller than SUB, the position and the posture of the upper platform exceed the stroke of the crank connecting rod mechanism, judging that the crank connecting rod mechanism is reversely solved and has no solution, ending the flow, otherwise, entering the next reverse solution process; wherein SUM represents the SUM of the crank and connecting rod lengths, SUB represents the absolute value of the difference between the crank and connecting rod lengths;
calculating an inclination angle difference delta theta_i based on an inclination angle theta' _i after the upper hinge point and the lower hinge point are connected and moved and an initial inclination angle theta_i of the upper hinge point and the lower hinge point;
calculating a crank angle difference delta omega_i based on an included angle omega_i between the connecting line of the upper hinge point and the lower hinge point and the corresponding crank after the crank moves; and
And correcting errors based on the inclination Angle difference delta theta_i and the crank Angle difference delta omega_i, obtaining the precise angle_i of crank oscillation, and obtaining the inverse solution of the crank oscillation Angle of the crank connecting rod mechanism.
As an optional embodiment, the defining the positions of the upper hinge point and the lower hinge point includes:
Upper hinge point: located at the top end and upper part of the connecting rod the spherical center of the spherical hinge of the platform is positioned;
crank end point: the device is positioned at a single rotary joint of the crank and the connecting rod, and particularly positioned at the intersection point of the axis of the connecting rod and the axis of the single rotary joint;
The lower hinge point: located on the motion plane of the connecting rod and the motor the intersection point position of the extension line of the rotating shaft;
and, the coordinates defining the upper hinge point, the crank end point, and the lower hinge point are as follows:
Xb_i: an initial X coordinate value of a lower hinge point;
yb_i: an initial Y-coordinate value of the lower hinge point;
zb_i: an initial Z coordinate value of a lower hinge point;
XP_i: an initial X coordinate value of an upper hinge point;
yp_i: an initial Y-coordinate value of an upper hinge point;
Zp_i: an initial Z coordinate value of an upper hinge point;
XM_i: an initial X coordinate value of a crank end point;
ym_i: an initial Y-coordinate value of a crank end point;
zm_i: initial Z coordinate value of crank end point;
XP' _i: x coordinate value after the upper hinge point moves;
YP' _i: y coordinate value after the upper hinge point moves;
ZP' _i: z coordinate value after the upper hinge point moves.
According to a second aspect of the object of the present invention, there is also provided a computer system comprising:
One or more processors; and
A memory storing instructions operable;
The instructions, when executed by one or more processors, cause the one or more processors to perform operations including executing the swing pose inverse solution control method of the three-degree-of-freedom parallel motion platform based on error correction of the foregoing embodiment.
According to a third aspect of the object of the present invention, there is also provided a computer-readable storage medium storing one or more programs, the one or more programs comprising instructions or sets of instructions executable by one or more processors;
The instructions or the instruction sets, when executed by one or more processors, perform the process of the swing pose inverse solution control method of the three-degree-of-freedom parallel motion platform based on error correction in the foregoing embodiment.
It should be understood that all combinations of the foregoing concepts, as well as additional concepts described in more detail below, may be considered a part of the inventive subject matter of the present disclosure as long as such concepts are not mutually inconsistent. In addition, all combinations of claimed subject matter are considered part of the disclosed inventive subject matter.
The foregoing and other aspects, embodiments, and features of the present teachings will be more fully understood from the following description, taken together with the accompanying drawings. Other additional aspects of the invention, such as features and/or advantages of the exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of the embodiments according to the teachings of the invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the invention will now be described, by way of example, with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a three-degree-of-freedom crank-connecting rod parallel motion platform provided by an embodiment of the invention.
Fig. 2 is a side view of a three degree of freedom crank connecting rod parallel motion platform provided according to an embodiment of the invention.
Fig. 3 is a schematic diagram of definition of an upper hinge point and a lower hinge point of a three-degree-of-freedom crank connecting rod parallel motion platform according to an embodiment of the invention.
Fig. 4 is an equivalent schematic diagram of a crank-link mechanism of a three-degree-of-freedom crank-link parallel motion platform provided according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a crank swing inverse solution principle of a three-degree-of-freedom crank connecting rod parallel motion platform provided by an embodiment of the invention.
Detailed Description
For a better understanding of the technical content of the present invention, specific examples are set forth below, along with the accompanying drawings.
Aspects of the invention are described in this disclosure with reference to the drawings, in which are shown a number of illustrative embodiments. The embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, may be implemented in any of a number of ways, as the disclosed concepts and embodiments are not limited to any implementation. Additionally, some aspects of the disclosure may be used alone or in any suitable combination with other aspects of the disclosure.
The three-degree-of-freedom crank connecting rod parallel motion platform provided by the embodiment of the invention is a lightweight motion platform with small volume, small occupied area, light weight and low cost, which is composed of an upper platform, a lower platform (such as a ground, a fixed platform and the like) and a crank connecting rod mechanism arranged between the upper platform and the lower platform, and is suitable for being applied to the fields of home, home entertainment, physiotherapy and health maintenance and the like.
With reference to fig. 1 and 2, the three-degree-of-freedom crank-link parallel motion platform is driven by three groups of crank-link mechanisms, each group of crank-link mechanisms is distributed below the upper platform according to the position of an equilateral triangle, and each group of crank-link mechanisms is driven by a motor (lying on the lower platform) to enable a crank to swing and further drive a link to move, the tail end of the link is hinged with a spherical hinge at the bottom of the upper platform, and the position and the posture of the upper platform are driven to change by the movement of the link, so that motion simulation is realized.
Referring to fig. 1,2 and 3, in the embodiment of the invention, a position inverse solution method of a three-degree-of-freedom crank-connecting rod parallel motion platform is provided, and the swing, namely the rotation angle, of a crank is solved under the condition of the position and the posture of a known motion platform, namely an upper platform.
In the embodiment of the invention, the coordinates of the upper hinge point are firstly solved through the motion position of the three-degree-of-freedom crank connecting rod parallel motion platform, then the triangle side length formed by the upper hinge point, the lower hinge point and the crank end point is calculated, the triangle angle change before and after the motion is calculated through the cosine theorem, and finally the high-precision crank swing angle is obtained through the triangle swing error correction, so as to realize the inverse solution of the crank rotation.
As an alternative embodiment, referring to fig. 2-5, the swing pose inverse solution control method of the three-degree-of-freedom parallel motion platform based on error correction includes:
The crank connecting rod mechanism defining the three-degree-of-freedom parallel motion platform and the motion joints between the crank connecting rod mechanism and the upper platform and the lower platform, wherein each crank connecting rod mechanism is correspondingly provided with three motion joints, and the three motion joints are respectively as follows: the single rotary joint between the crank and the lower platform is driven by a motor to do rotary motion relative to the lower platform; a single rotary joint of the crank and the connecting rod; and the spherical hinge joint between the top end of the connecting rod and the upper platform is shown in figures 1 and 2;
Defining the positions of the hinge points of the platform, including the positions of the upper hinge point, the lower hinge point and the tail end point of the state, as shown in fig. 3;
For any crank connecting rod motion mechanism i, according to the positions of an upper hinge point and a lower hinge point corresponding to the ith crank connecting rod motion mechanism, acquiring an initial inclination angle theta_i and a length L_i of a connecting line of the upper hinge point and the lower hinge point, wherein i=1, 2 and 3;
acquiring an included angle omega_i between a connecting line of the corresponding upper hinge point and the lower hinge point and the corresponding crank according to the positions of the upper hinge point and the lower hinge point corresponding to the ith crank connecting rod movement mechanism;
Solving the coordinates of the upper hinge point after movement according to the position and the posture of the three-degree-of-freedom parallel motion platform;
According to the coordinates of the upper hinge point after movement, acquiring an inclination angle theta '_i and a length L' _i of the upper hinge point after the connection line movement of the lower hinge point;
acquiring an included angle omega' _i between a connecting line of the corresponding upper hinge point and the lower hinge point and a crank after movement according to the coordinates of the upper hinge point after movement;
acquiring the distance L '_i between the upper hinge point after the movement and the tail end point of the crank before the movement and the included angle omega' _i between the connecting line of the upper hinge point after the movement and the lower hinge point and the crank before the movement;
Judging whether the position and the posture of the upper platform exceed the stroke of the crank connecting rod mechanism, if the initial length L' _i of the connecting line between the upper hinging point and the lower hinging point of any group of crank connecting rod mechanisms is larger than SUM or smaller than SUB, the position and the posture of the upper platform exceed the stroke of the crank connecting rod mechanism, judging that the crank connecting rod mechanism is reversely solved and has no solution, ending the flow, otherwise, entering the next reverse solution process; wherein SUM represents the SUM of the crank and connecting rod lengths, SUB represents the absolute value of the difference between the crank and connecting rod lengths;
calculating an inclination angle difference delta theta_i based on an inclination angle theta' _i after the upper hinge point and the lower hinge point are connected and moved and an initial inclination angle theta_i of the upper hinge point and the lower hinge point;
calculating a crank angle difference delta omega_i based on an included angle omega_i between the connecting line of the upper hinge point and the lower hinge point and the corresponding crank after the crank moves; and
Referring to fig. 5, the error is corrected based on the tilt Angle difference Δθ_i and the crank Angle difference Δω_i, and the precise Angle angle_i of the crank wobble is obtained, thereby obtaining the crank wobble Angle inverse solution of the crank link mechanism.
In connection with the examples shown in fig. 1, 2, 3, defining the positions of the upper and lower hinge points includes:
Upper hinge point: located at the top end and upper part of the connecting rod the spherical center of the spherical hinge of the platform is positioned;
crank end point: the device is positioned at a single rotary joint of the crank and the connecting rod, and particularly positioned at the intersection point of the axis of the connecting rod and the axis of the single rotary joint;
The lower hinge point: located on the motion plane of the connecting rod and the motor intersection point position of rotation axis extension line.
The coordinates defining the upper hinge point, the crank end point, and the lower hinge point are as follows, as shown in fig. 2 and 3:
Xb_i: an initial X coordinate value of a lower hinge point;
yb_i: an initial Y-coordinate value of the lower hinge point;
zb_i: an initial Z coordinate value of a lower hinge point;
XP_i: an initial X coordinate value of an upper hinge point;
yp_i: an initial Y-coordinate value of an upper hinge point;
Zp_i: an initial Z coordinate value of an upper hinge point;
XM_i: an initial X coordinate value of a crank end point;
ym_i: an initial Y-coordinate value of a crank end point;
zm_i: initial Z coordinate value of crank end point;
XP' _i: x coordinate value after the upper hinge point moves;
YP' _i: y coordinate value after the upper hinge point moves;
ZP' _i: z coordinate value after the upper hinge point moves.
In a further embodiment, according to the positions of the upper hinge point and the lower hinge point corresponding to the ith crank link motion mechanism, obtaining an initial inclination angle θ_i and a length l_i of a connecting line between the upper hinge point and the lower hinge point includes:
In a further embodiment, according to the positions of the upper hinge point and the lower hinge point corresponding to the ith crank-link motion mechanism, obtaining an included angle ω_i between the connecting line of the upper hinge point and the lower hinge point corresponding to the ith crank-link motion mechanism and the corresponding crank includes:
wherein, crank represents the length of the Crank, rod represents the length of the connecting Rod; assuming the crank level at the initial position, θ_i=ω_i at the initial time.
In a further embodiment, the method for solving the coordinates of the upper hinge point after the movement according to the position and the posture of the three-degree-of-freedom parallel motion platform includes:
the following positional attitude equation is constructed:
since Δγ, Δx, and Δy are all 0, there are:
in a further embodiment, according to the coordinates of the upper hinge point after the movement, acquiring the inclination angle θ '_i and the length L' _i of the upper hinge point after the connection line movement with the lower hinge point includes:
in a further embodiment, according to the coordinates of the upper hinge point after the movement, obtaining the included angle ω' _i between the connecting line of the corresponding upper hinge point and the lower hinge point and the crank after the movement includes:
in a further embodiment, obtaining a distance L "_i between the upper hinge point after the movement and the end point of the crank before the movement and an included angle ω" _i between a connecting line of the upper hinge point after the movement and the lower hinge point and the crank before the movement includes:
In a further embodiment, as shown in fig. 4 and 5, the correcting error based on the difference Δθ_i of the inclination Angle and the difference Δω_i of the crank Angle, obtaining the precise angle_i of the crank swing, and obtaining the inverse solution of the crank swing Angle of the crank link mechanism includes:
when ω_i > ω "_i, angle_i= Δω_i+ [ delta ] θ_i;
when ω _ i < ω _ i, angle_i= Δω/u i— Δθ_i;
when ω_i= in the case of ω "_ i, angle_i= Δω—i.
Therefore, on the basis of the light three-degree-of-freedom motion platform based on the crank-link mechanism, the position inverse solution of the three-degree-of-freedom crank-link parallel motion platform is obtained by cosine theorem and triangle swing error correction, and the precise control of the crank rotation angle of the crank-link mechanism is realized.
In combination with the method for controlling inverse solution of swing pose of three-degree-of-freedom parallel motion platform based on error correction in the above embodiment, according to an embodiment of the present disclosure, a computer system is further provided, which is characterized in that the method includes: one or more processors; and a memory storing instructions that can be operated on.
The instructions, when executed by one or more processors, cause the one or more processors to perform operations including executing the swing pose inverse solution control method of the three-degree-of-freedom parallel motion platform based on error correction of the foregoing embodiment.
In combination with the method for controlling inverse solution of swing pose of three-degree-of-freedom parallel motion platform based on error correction in the above embodiments, according to an embodiment of the disclosure, a computer-readable storage medium is also provided for storing one or more programs, where the one or more programs include instructions or instruction sets executable by one or more processors.
The instructions or the instruction sets, when executed by one or more processors, perform the process of the swing pose inverse solution control method of the three-degree-of-freedom parallel motion platform based on error correction in the foregoing embodiment.
While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Those skilled in the art will appreciate that various modifications and adaptations can be made without departing from the spirit and scope of the present invention. Accordingly, the scope of the invention is defined by the appended claims.
Claims (11)
1. The swing pose inverse solution control method of the three-degree-of-freedom parallel motion platform based on error correction is characterized by comprising the following steps of:
The crank connecting rod mechanism defining the three-degree-of-freedom parallel motion platform and the motion joints between the crank connecting rod mechanism and the upper platform and the lower platform, wherein each crank connecting rod mechanism is correspondingly provided with three motion joints, and the three motion joints are respectively as follows: the single rotary joint between the crank and the lower platform is driven by a motor to do rotary motion relative to the lower platform; a single rotary joint of the crank and the connecting rod; and a spherical hinge joint between the top end of the connecting rod and the upper platform;
Defining the position of an upper hinge point and a lower hinge point;
For any crank connecting rod motion mechanism i, according to the positions of an upper hinge point and a lower hinge point corresponding to the ith crank connecting rod motion mechanism, acquiring an initial inclination angle theta_i and a length L_i of a connecting line of the upper hinge point and the lower hinge point, wherein i=1, 2 and 3;
acquiring an included angle omega_i between a connecting line of the corresponding upper hinge point and the lower hinge point and the corresponding crank according to the positions of the upper hinge point and the lower hinge point corresponding to the ith crank connecting rod movement mechanism;
Solving the coordinates of the upper hinge point after movement according to the position and the posture of the three-degree-of-freedom parallel motion platform;
According to the coordinates of the upper hinge point after movement, acquiring an inclination angle theta '_i and a length L' _i of the upper hinge point after the connection line movement of the lower hinge point;
acquiring an included angle omega' _i between a connecting line of the corresponding upper hinge point and the lower hinge point and a crank after movement according to the coordinates of the upper hinge point after movement;
acquiring the distance L '_i between the upper hinge point after the movement and the tail end point of the crank before the movement and the included angle omega' _i between the connecting line of the upper hinge point after the movement and the lower hinge point and the crank before the movement;
Judging whether the position and the posture of the upper platform exceed the stroke of the crank connecting rod mechanism, if the initial length L' _i of the connecting line between the upper hinging point and the lower hinging point of any group of crank connecting rod mechanisms is larger than SUM or smaller than SUB, the position and the posture of the upper platform exceed the stroke of the crank connecting rod mechanism, judging that the crank connecting rod mechanism is reversely solved and has no solution, ending the flow, otherwise, entering the next reverse solution process; wherein SUM represents the SUM of the crank and connecting rod lengths, SUB represents the absolute value of the difference between the crank and connecting rod lengths;
calculating an inclination angle difference delta theta_i based on an inclination angle theta' _i after the upper hinge point and the lower hinge point are connected and moved and an initial inclination angle theta_i of the upper hinge point and the lower hinge point;
calculating a crank angle difference delta omega_i based on an included angle omega_i between the connecting line of the upper hinge point and the lower hinge point and the corresponding crank after the crank moves; and
And correcting errors based on the inclination Angle difference delta theta_i and the crank Angle difference delta omega_i, obtaining the precise angle_i of crank oscillation, and obtaining the inverse solution of the crank oscillation Angle of the crank connecting rod mechanism.
2. The method for controlling inverse solution to swing pose of three-degree-of-freedom parallel motion platform based on error correction according to claim 1, wherein the defining the positions of the upper hinge point and the lower hinge point comprises:
Upper hinge point: located at the top end and upper part of the connecting rod the spherical center of the spherical hinge of the platform is positioned;
crank end point: the device is positioned at a single rotary joint of the crank and the connecting rod, and particularly positioned at the intersection point of the axis of the connecting rod and the axis of the single rotary joint;
The lower hinge point: located on the motion plane of the connecting rod and the motor the intersection point position of the extension line of the rotating shaft;
and, the coordinates defining the upper hinge point, the crank end point, and the lower hinge point are as follows:
Xb_i: an initial X coordinate value of a lower hinge point;
yb_i: an initial Y-coordinate value of the lower hinge point;
zb_i: an initial Z coordinate value of a lower hinge point;
XP_i: an initial X coordinate value of an upper hinge point;
yp_i: an initial Y-coordinate value of an upper hinge point;
Zp_i: an initial Z coordinate value of an upper hinge point;
XM_i: an initial X coordinate value of a crank end point;
ym_i: an initial Y-coordinate value of a crank end point;
zm_i: initial Z coordinate value of crank end point;
XP' _i: x coordinate value after the upper hinge point moves;
YP' _i: y coordinate value after the upper hinge point moves;
ZP' _i: z coordinate value after the upper hinge point moves.
3. The method for controlling inverse solution to swing pose of three-degree-of-freedom parallel motion platform based on error correction according to claim 2, wherein the obtaining initial inclination angle θ_i and length l_i of the connection line between the upper hinge point and the lower hinge point according to the positions of the upper hinge point and the lower hinge point corresponding to the ith crank link motion mechanism comprises:
4. The method for controlling inverse solution to swing pose of three-degree-of-freedom parallel motion platform based on error correction according to claim 3, wherein the obtaining the included angle ω_i between the connecting line of the corresponding upper hinge point and the lower hinge point and the corresponding crank according to the positions of the upper hinge point and the lower hinge point corresponding to the ith crank-connecting rod motion mechanism comprises:
wherein, crank represents the length of the Crank, rod represents the length of the connecting Rod; assuming the crank level at the initial position, θ_i=ω_i at the initial time.
5. The method for controlling inverse solution of swing pose of three-degree-of-freedom parallel motion platform based on error correction according to claim 2, wherein the method for solving the coordinates of the upper hinge point after motion according to the position pose of the three-degree-of-freedom parallel motion platform comprises:
the following positional attitude equation is constructed:
since Δγ, Δx, and Δy are all 0, there are:
6. the method for controlling inverse solution to swing pose of three-degree-of-freedom parallel motion platform based on error correction according to claim 5, wherein obtaining the tilt angle θ '_i and the length L' _i after the upper hinge point and the lower hinge point are connected and moved according to the coordinates after the upper hinge point moves, comprises:
7. the method for controlling inverse solution to swing pose of three-degree-of-freedom parallel motion platform based on error correction according to claim 6, wherein the obtaining the corresponding included angle ω' _i between the upper hinge point and the lower hinge point and between the upper hinge point and the crank motion according to the coordinates after the upper hinge point moves comprises:
wherein, crank represents the length of the Crank, rod represents the length of the connecting Rod.
8. The method for controlling the inverse solution to the swing pose of the three-degree-of-freedom parallel motion platform based on the error correction according to claim 7, wherein the steps of obtaining the distance L "_i between the upper hinge point after the motion and the end point of the crank before the motion and the included angle ω" _i between the connecting line of the upper hinge point after the motion and the lower hinge point and the crank before the motion include:
wherein, crank represents the length of the Crank, rod represents the length of the connecting Rod.
9. The method for controlling inverse solution of oscillation pose of three-degree-of-freedom parallel motion platform based on error correction according to claim 1, wherein the error correction based on the difference Δθ_i of the inclination Angle and the difference Δω_i of the crank Angle, obtaining the precise angle_i of crank oscillation, obtaining inverse solution of crank oscillation Angle of the crank link mechanism, comprises:
when ω_i > ω "_i, angle_i= Δω_i+ [ delta ] θ_i;
when ω _ i < ω _ i, angle_i= Δω/u i— Δθ_i;
when ω_i= in the case of ω "_ i, angle_i= Δω—i.
10. A computer system, comprising:
One or more processors; and
A memory storing instructions operable;
Wherein the instructions, when executed by one or more processors, cause the one or more processors to perform operations comprising performing the process of the method for controlling swing pose inverse solution of the error correction based three degree of freedom parallel motion platform according to any one of claims 1-9.
11. A computer readable storage medium storing one or more programs, wherein the one or more programs comprise instructions or a set of instructions executable by one or more processors;
wherein the instructions or instruction set, when executed by one or more processors, perform the process of the method for controlling swing pose inverse solution of a three degree of freedom parallel motion platform based on error correction as claimed in any one of claims 1 to 9.
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| CN202311658131.4A CN117601103B (en) | 2023-12-06 | 2023-12-06 | Swing pose inverse solution control method and system for three-degree-of-freedom parallel motion platform based on error correction and computer storage medium |
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| CN202311658131.4A CN117601103B (en) | 2023-12-06 | 2023-12-06 | Swing pose inverse solution control method and system for three-degree-of-freedom parallel motion platform based on error correction and computer storage medium |
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| CN117601103A CN117601103A (en) | 2024-02-27 |
| CN117601103B true CN117601103B (en) | 2024-09-03 |
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| CN109101033A (en) * | 2018-06-19 | 2018-12-28 | 成都臻达伺服控制技术有限公司 | A kind of six free platform stance normal solution methods based on crank link mechanism |
| CN112207800A (en) * | 2019-07-10 | 2021-01-12 | 中国科学院长春光学精密机械与物理研究所 | Three-degree-of-freedom rotating crank connecting rod parallel platform pose control method |
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| EP4348625A1 (en) * | 2021-05-31 | 2024-04-10 | Dynisma Ltd. | Motion generator |
| CN114290318B (en) * | 2021-12-31 | 2024-11-08 | 江苏普旭科技股份有限公司 | Multi-degree-of-freedom motion platform suitable for large-angle compound posture motion and its motion control inverse solution method |
| CN116893627B (en) * | 2023-09-08 | 2023-12-08 | 江苏普旭科技股份有限公司 | Motion platform pose control method and device based on iteration step length and storage medium |
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| CN109101033A (en) * | 2018-06-19 | 2018-12-28 | 成都臻达伺服控制技术有限公司 | A kind of six free platform stance normal solution methods based on crank link mechanism |
| CN112207800A (en) * | 2019-07-10 | 2021-01-12 | 中国科学院长春光学精密机械与物理研究所 | Three-degree-of-freedom rotating crank connecting rod parallel platform pose control method |
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