三自由度悬索并联机器人动态点对点轨迹跟踪控制  

Dynamic Point-to-point Trajectory Tracking Control of 3-DOF Cable-suspended Parallel Robot

作　　者：任凭 何梦伊 REN Ping;HE Meng-yi(College of Engineering,Ocean University of China,Qingdao 266100,China)

机构地区：[1]中国海洋大学工程学院,山东青岛266100

出　　处：《电脑知识与技术》2020年第14期14-19,共6页Computer Knowledge and Technology

基　　金：国家自然科学基金资助项目(51409237)。

摘　　要：本文针对三自由度悬索并联机器人的动态点对点轨迹设计计算力矩控制器并进行跟踪控制。由于悬索并联机器人的悬索只能承受单向拉力,使得设计控制器时需考虑此张力约束,从而得到一组张力约束不等式以表示悬索张力和控制器参数间的关系。对不等式进行区间分析,从而确定满足悬索张力约束的控制器可靠参数空间。本文所提出的方法不仅可以实现对动态工作空间内的点对点轨迹的跟踪,而且当轨迹初始状态位于期望轨迹之外时,该方法可以实现运动轨迹的自动过渡。仿真结果表明,区间分析得到的控制器可靠参数空间可以确保末端执行器以指数速率收敛于期望轨迹,并始终保持悬索张力为正。In this paper,a computed torque controller is proposed for the dynamic point to point trajectory tracking control of a three-DOF cable-suspended parallel robot..Because the cable of the suspension parallel robot can only bear one-way tension,the tension constraint should be considered in the design of the controller,so a set of tension constraint inequalities are obtained to ex⁃press the relationship between the tension of the suspension and the parameters of the controller.By interval analysis of the inequal-ity,the reliable parameter space of the controller satisfying the tension constraint of the suspension cable is determined.The meth⁃od proposed in this paper can not only track the point-to-point trajectory in the dynamic workspace,but also realize the automatic transition of the trajectory when the initial state of the trajectory is outside the desired trajectory.The simulation results show that the controller reliability space obtained by interval analysis can ensure that the end-effector converges to the desired trajectory ex⁃ponentially and maintain positive cable tensions all the time.

关 键 词：悬索并联机器人 计算力矩法 区间分析 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]