关键词: 冗余驱动, 运动协调方程, 鲁棒性轨迹跟踪, 柔顺性控制

Abstract: The equations of kinematical compatibility between redundant actuating leg and non-redundant actuating legs of 3RPS/UPS PKM were deduced.Based on the principle of virtual work,Lagrange dynamical equation of 3RPS PKM was derived,consequently the robust trajectory tracking control model was established.The dynamical equation of redundant actuating leg was presented,and the target impedance control model was built up.By using the fuzzy PID method,the appropriate force working on the redundant actuating leg was automatically tracked,so that the internal force of machine was maintained within a reasonable range,and the compliant control strategy of redundantly actuating leg was implemented.The availability of the compliance control model was verified through simulation analysis.

Key words: redundant actuation, kinematical compatible equation, robust trajectory tracking, compliance control