Motion Control System of a Hexaglide

• Main Authors: Kou Chiang Ho, 何國強
• Other Authors: K. T. Song
• Format: Others
• Language: zh-TW
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/20392691255129688707

碩士 === 國立交通大學 === 電機與控制工程系 === 87 === In this thesis,we present the research results of the development of Hexaglide motion controll system. The inverse kinematics analysis of Hexaglide is presented. An algorithm is proposed to compute the motor positions when the position and orientation of the platform are given. The dynamics equations of the Hexaglide are derived. The relation between platform motion and the link force can be computed accordingly. Computer simulations are presented to verify the proposed methods. An independent single-input-single-output (SISO) control architecture is developed for 6-DOF Hexaglide. However, adaptive control schemes are required to improve the tracking performance. A model reference adaptive control(MRAC) approach is adopted in this thesis for this purpose. In order to improve transient performance of the MRAC,a PD controller is added to combine with the conventional adaptive controller. Simulation results confirm that the proposed controller has satisfactory tracking performance. A three DOF triglide system has been designed and implemented. Rotary motors and ball screws we used to achieve linear motion on the linear glide. Experimental results of this mechanism are demonstrated.