基于动力学前馈的3-RPS并联平台柔顺控制研究

iming at the safety and comfort of the 3-RPS parallel mechanism platform during human-computer interaction, a soft and smooth control strategy based on dynamics feedforward is designed, which does not need force sensors, reduces the system complexity, and realizes soft and smooth control. The inverse kinematics, inverse dynamics and dynamics feedforward model of the 3-RPS parallel mechanism are analyzed, based on which PID feedback is added, and a simulation system is built in Simulink to analyze and compare the effects on the trajectory tracking accuracy of the system before and after adding PID feedback. The experimental results show that the algorithm designed in this paper can greatly improve the trajectory tracking accuracy after adding PID feedback, and has good suppleness effect and fast response speed.