Interaction algorithm of the mechanisms of relative manipulation in a 6-DOF robot control system

Abstract

Abstract The paper considers the features of management of a 6-DOF robot, developed on the basis of two interacting mechanisms of a parallel structure. Each mechanism provides movement in three independent degrees of freedom: a flat 3-RPR mechanism for installing a part and a 3-RPS mechanism (tripod) for installing a tool. It is shown that when these mechanisms are jointly controlled, it becomes necessary to correct the movement of one of them in connection with the parasitic movements of the other. The authors propose the method for the description of the position of the movable platform of the tripod, which allows using only five output coordinates. According to the authors, the platform rotation representation used in this case is more convenient to describe the interaction of mechanisms than the traditional use of Tait – Bryan angles. The algorithm was developed to correct the task by the position of the planar mechanism in order to compensate parasitic movements of the movable platform of the tripod in the horizontal plane during the control of a 6-DOF robot. On the basis of a specially constructed 6-DOF robot model with mechanisms of relative manipulation, the simulation in the MATLAB package was carried out, which confirmed the effectiveness of the proposed algorithm.