Control parameter designing is an essential issue for industrial robot applications, in which the dynamic characteristics of robots play an important role. This article investigates the dynamic and control parameter design of a hybrid spray-painting robot with parallelogram structures to improve its tracking performance. The dynamic model of the robot is derived, and its intrinsic dynamic properties, such as time-varying characteristics, decoupling driving properties, and the contribution of each component to the total driving torque, are investigated. Based on the robot dynamic analysis, the comprehensive performance of the robotic mechatronic system is examined, and several principles for control parameter design are presented. Finally, on the basis of the small noise excitation method, a strategy to determine the robot pose for control parameter tuning is proposed. The strategy is experimentally verified to improve the consistency of motion accuracy in the entire workspace effectively.

中文翻译：

---

基于平行四边形结构的混合机器人动态特性的控制参数设计

控制参数设计是工业机器人应用中必不可少的问题，其中机器人的动态特性起着重要的作用。本文研究了具有平行四边形结构的混合喷涂机器人的动态和控制参数设计，以提高其跟踪性能。推导了机器人的动力学模型，并研究了其固有的动力学特性，例如时变特性，去耦驱动特性以及每个组件对总驱动转矩的贡献。在机器人动力学分析的基础上，研究了机器人机电系统的综合性能，提出了控制参数设计的若干原则。最后，基于小噪声激励方法，提出了一种确定机器人姿态以进行控制参数调整的策略。该策略经过实验验证，可有效提高整个工作空间中运动精度的一致性。