柔索驱动机器人运动规划与控制方法研究综述  

Overview of trajectory planning and control methods for cable-driven robots

作　　者：钱森[1] 李长奇 周斌[1] 訾斌[1] QIAN Sen;LI Chang-qi;ZHOU Bin;ZI Bin(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学机械工程学院,合肥230009

出　　处：《控制与决策》2024年第9期2817-2832,共16页Control and Decision

基　　金：国家自然科学基金面上项目(52175013);国家自然科学基金重点项目(52335002);国家重点研发计划项目(2022YFB4702501)。

摘　　要：在柔索驱动机器人中采用柔性索代替传统的刚性连杆,可以显著降低机构的重量及运动部件的惯性,突破铰链转角及连杆伸缩长度的制约,因而在工作空间、负载自重比以及适应性方面展现出明显的优势.这不仅体现了机器人设计中的轻量化理念,也符合人机共融的发展趋势.鉴于此,深入探讨柔索驱动机器人在运动规划、轨迹跟踪、索力分配、振动抑制和容错控制5个方向的代表性理论、典型应用和研究进展,分析不同运动规划与控制方法的设计思路和优点,并进一步总结各领域面临的挑战.最后针对自主重构、变刚度以及人机协同控制问题,展望柔索驱动机器人运动规划与控制方法的发展趋势.Cable-driven robots are driven by flexible cables instead of traditional rigid links,significantly reducing the weight of the mechanism and the inertia of the moving components,breaking through the limitations of the hinge angle and telescopic length,and offering obvious advantages in terms of workspace,load-to-weight ratio,and adaptability.The development of cable-driven robots represents a lightweight design concept and a development trend of humanrobot cooperation.In this review,the representative theories,typical applications and research advancements of cabledriven robots are discussed in areas such as motion planning,trajectory tracking control,tension distribution strategies,vibration suppression and fault-tolerant control.The design approaches and advantages of various motion planning and control methods are analyzed and the challenges in each area are concluded.Finally,the development trends for motion planning and control methods of cable-driven robots are summarized in three aspects,including research on autonomous reconfiguration,variable stiffness control and natural interaction and human-robot cooperative control.

关 键 词：柔索驱动机器人 运动控制 索力分配 振动抑制 重构策略 运动规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]