Kinematic modeling and motion control of a parallel robotic antenna pedestal

摘要

Abstract This paper deals with kinematic modeling and motion control of a novel antenna pedestal based on parallel robotic mechanism. Its active joints are two sliders equipped with DC motors on a circular rail. The synchronous and asynchronous motions of the two sliders enable the antenna to rotate in azimuth and pitch. In order to solve the problem of trajectory deviation caused by nonlinear friction and other uncertain disturbances, the structure of the antenna is described at the beginning, and then, the kinematic model is established based on geometry method. Then, the fuzzy PI (FPI) control system is designed based on the position feedback of the driving slider to realize the trajectory tracking of the desired curve. Finally, the parameters of the FPI controller are optimized and validated by Simulink simulation experiments. The tracking performance and the effectiveness of the control algorithm on prototype are verified by experiments of typical trajectory following control.