二自由度悬索并联机器人计算力矩控制  

Tracking control of a two-DOF cable-suspended parallel robot using the computed torque method

作　　者：任凭 何梦伊 REN Ping;HE Mengyi(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,青岛266100

出　　处：《清华大学学报（自然科学版）》2021年第3期209-216,共8页Journal of Tsinghua University(Science and Technology)

基　　金：国家重点研发计划项目(2018YFC0308504);国家自然科学基金资助项目(51409237);中央高校基本科研业务费(201964012)。

摘　　要：该文针对二自由度悬索并联机器人的轨迹跟踪控制进行计算力矩控制器设计。在处理悬索张力问题时,采用区间分析方法对由控制器参数与末端执行器初始状态构成的参数空间进行分析,确定满足悬索张力约束的解析充分条件以及可靠空间。该方法可以跟踪水平轨迹、竖直轨迹和圆周轨迹等典型周期轨迹,以及动态工作空间内的点对点轨迹。当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:可靠空间内的参数组合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。A computed torque controller was developed for trajectory tracking control of a two-DOF cable-suspended parallel robot. Interval arithmetic was used to analyze the cable tensions’ parameter space consisting of the controller parameter and the initial states of the end-effector and to obtain the sufficient conditions of the reliable parameter space which satisfied the tension constraints. This method can track various trajectories such as periodic horizontal, vertical and circular trajectories, as well as point-to-point dynamic trajectories. When the initial state is not on the desired trajectory, the method provides a transition to the desired trajectory. Simulations show that the parameter combinations in the reliable space ensure that the end-effector converges exponentially to the desired trajectory and that the cable tensions remain positive at all times.

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]