Trajectory control and vibration suppression of rigid‐flexible parallel robot based on singular perturbation method

摘要

Abstract To accurately, stably, and efficiently control the complex rigid‐flexible coupled robot, this paper takes Delta robot as the study object and decomposes it into slow subsystem and fast subsystem in different timescales by using singular perturbation principle, which the slow subsystem representing the rigid motion and the fast subsystem representing flexible vibration. In addition, the backstepping control system is designed for the slow subsystem, and the dynamic surface control system based on K‐observer is designed for the fast subsystem, and the overall control scheme is proposed by combining the backstepping control system and the dynamic surface control system, and the stability of the proposed overall control scheme is proven. Finally, the proposed control scheme is compared with proportional derivative control and trajectory control with workspace lattices, and the related experimental results are analyzed in details.