Research on the Control of Parallel Manipulator with Load Torque Observation Compensation

In order to make the three-degree-of-freedom (3-DOF) parallel mechanism meet more complex working conditions such as unknown load and suddenly changing of load, the control method of parallel mechanism under uncertain load is studied, and on the basis of the computed torque control strategy based on the dynamic model, an efficient and engineering-friendly load torque observer is designed for the characteristics of load uncertainty, and the computed torque control strategy with the load observer is designed. Establishing a uniaxial test system to verify the effectiveness of load observers and compensation methods. And the physical model of the mechanism is established in Simmechanics and the system controller is designed in Simulink. The results show that the load observer can achieve effective approximation of the load, the algorithm is better than the computed torque control. It can effectively cope with more complex working conditions and has strong adaptability, and can realizes the accurate tracking of the target trajectory.