多机器人协调吊运系统力位姿混合运动稳定性评价方法  

Appraise of dynamical stability of multi-robots cooperatively lifting system based on hybrid force-position-pose approach

作　　者：赵志刚[1] 王砚麟[1] 李劲松[2] 

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730070 [2]上海交通大学机械与动力工程学院,上海200030

出　　处：《哈尔滨工程大学学报》2018年第1期148-155,共8页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51265021);高等学校博士学科点专项科研基金新教师类项目(20126204120004);教育部科学技术研究重点项目(212184);甘肃省自然科学基金项目(1212RJZA067)

摘　　要：针对欠约束多机器人协调吊运系统很难用传统方法评定其运动稳定性的问题,以多机器人协调吊运系统的运动学和动力学为基础,分别定义了位置性能因子、姿态性能因子和柔索拉力性能因子,并将三个性能因子通过加权的方式得到了吊运系统运动稳定性评价指标。定义了吊运系统的稳定工作空间和抗干扰稳定工作空间。最后进行实例仿真计算,分析了吊运系统工作空间内不同部位的稳定性高低程度,并通过抗干扰稳定工作空间和稳定工作空间的比较,验证了该方法的合理性和有效性。研究结果为系统的规划和优化控制奠定了基础。The dynamic stability of an under-constrained multi-robot cooperative lifting system is difficult to assess using traditional methods. First, position performance factor, pose performance factor, and cable tension performance factor were defined based on the kinematics and dynamics of the multi-robot cooperative lifting system. Second, the assessment index on the dynamic stability of the lifting system was obtained by weighting the three performance factors. Third, the stable workspace and robustness workspace of the lifting system were defined. Finally, a case was adopted for simulative calculation. The stability degrees of different positions in the workspace of the lifting system were analyzed. The rationality and effectiveness of the method were verified by comparing the anti-disturbance stable workspace and stable workspace. The research results can lay a foundation for subsequent system planning and optimal control.

关 键 词：多机器人系统 吊运系统 运动稳定性 工作空间 力位姿混合 协调控制 优化控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]