二自由度悬索并联机器人计算力矩控制

任凭; 何梦伊

doi:10.16511/j.cnki.qhdxxb.2020.26.028

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清华大学学报（自然科学版） ›› 2021, Vol. 61 ›› Issue (3) : 209-216. DOI: 10.16511/j.cnki.qhdxxb.2020.26.028

索驱动机器人

二自由度悬索并联机器人计算力矩控制

任凭, 何梦伊

作者信息 +

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

REN Ping, HE Mengyi

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文章历史 +

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。

Abstract

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.

导出引用

任凭, 何梦伊. 二自由度悬索并联机器人计算力矩控制[J]. 清华大学学报（自然科学版）. 2021, 61(3): 209-216 https://doi.org/10.16511/j.cnki.qhdxxb.2020.26.028

REN Ping, HE Mengyi. Tracking control of a two-DOF cable-suspended parallel robot using the computed torque method[J]. Journal of Tsinghua University(Science and Technology). 2021, 61(3): 209-216 https://doi.org/10.16511/j.cnki.qhdxxb.2020.26.028

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收稿日期	出版日期
2020-06-14	2021-03-15
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2021-03-06

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