Trajectory compensation for multi-robot coordinated lifting system considering elastic catenary of the rope  

作　　者：ZHAO Xiangtang ZHAO Zhigang SU Cheng MENG Jiadong WANG Baoxi 赵祥堂;ZHAO Zhigang;SU Cheng;MENG Jiadong;WANG Baoxi(School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,P.R.China)

机构地区：[1]School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,P.R.China

出　　处：《High Technology Letters》2024年第3期252-262,共11页高技术通讯（英文版）

基　　金：the National Natural Science Foundation of China(No.51965032);the Natural Science Foundation of Gansu Province of China(No.22JR5RA319);the Science and Technology Foundation of Gansu Province of China(No.21YF5WA060);the Excellent Doctoral Student Foundation of Gansu Province of China(No.23JRRA842).

摘　　要：The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。

关 键 词：multi-robot lifting system deformation of flexible rope elastic catenary model compensation principle of position and posture trajectory compensation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]