摘要
缓慢运动的索牵引并联机器人中,牵引索在做大范围运动的同时会伴随有低频振动,建立了这种柔索的动力学模型,得到柔索的长度、张力与振动位移之间的关系。针对执行机构产生的索长收放误差,提出一种控制策略,利用机器人终端的位姿和柔索张力的反馈结果由柔索动力学模型得到索长误差,经NPID控制器调整后完成索长修正。数值算例证明了该方法的有效性。
The cable of a slowly moving cable-driven manipulator undergoes global with additional local low-fre- quency vibration.A dynamic model was proposed for the cable,which relates the length,tension and vibration displace- ment of the cable.Control rules were presented to reduce the cable length error resulted from the servo mechanism.The error of cable length was obtained using the cable dynamie model proposed as well as the feedbaek of the position and pose of the end-effector and the cable tension.The error was regulated by an NPID controller to correct the cable length.Nu- merical example validates the method presented.
出处
《振动与冲击》
EI
CSCD
北大核心
2008年第11期173-176,共4页
Journal of Vibration and Shock
基金
国家自然科学基金跨科学部交叉重点项目巨型射电天文望远镜(FAST)总体设计与关键技术研究(10433020)
国家自然科学基金面向雷达伺服系统结构-控制综合设计的研究(50775170)的资助
