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ABSTRACT: In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this study analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel robot. The coupling angle and coupling velocity are derived based on inverse kinematics model. The performance revolving stability, accuracy and robustness of the proposed coupling compensation control scheme for 6-DOF parallel robot is analysed in theory and computer simulation. These simulations show that the coupling compensation can improve the control performance and eliminate the steady state errors of tank simulator.
Dalian University of TechnologyLü-ta-shih, Liaoning, China