Calculation of large rigid body pose and its high precision control was studied in the paper. Aiming at the 6-DOF large rigid body pose control system, a fast calculation approach to the pose and a high precision multi-axis coordinating control system was presented. Firstly, based on a global frame and a body-fixed frame system, which were established on the basic platform and the center of the large rigid body respectively, a mathematic model of large rigid body kinematics is formulated. By detecting the started positions and final positions of four marks on the large rigid body, we can calculate the displacement increments of three coordinates of the four supports. The simulation results show that the proposed approach is rapid and effective. Secondly, a compensation technology of synchronization error integral was proposed for the large rigid body pose control system. By the technology, the precision and speed of large rigid body posing can be significantly improved; and so it has guiding significance for engineering application.
Pose control of multi‐rigid‐body systems with distance‐dependent topologies
