悬索驱动并联机器人的非线性PD控制研究
Nonlinear PD Control for Curved Cable Driven Parallel Robots
基于悬链线方程建立了大跨度悬索的索力与索端位移和索长之间的增量关系,同时推导出机器人末端执行器的位移偏差与悬索作用力增量之间的关系,据此构造出系统的动力学方程。采用李雅普诺夫法先对末端执行器上的合力设计反馈控制器,然后结合系统的动力学方程,构造出以索长调整量为控制输入时的非线性PD控制器。数值算例证明了控制算法的有效性。
The incremental relationship among cable force, displacement of cable end and cable length is derived on the basis of catenary equations. Also the displacement of the end-effector is related with the variance of cable force. Then dynamics of the system is established. A feedback controller is designed for the resultant force exerted on the end-effector using Lyapunov method. Combining with the dynamics of the system, a nonlinear PD controller is constructed where the adjustment of cable length is the control input. Numerical examples validate the methods presented.
索牵引机器人 / 动力学 / 非线性控制 / 轨迹跟踪 {{custom_keyword}} /
Cable-driven manipulator / Dynamics / Nonlinear control / Trajectory tracking {{custom_keyword}} /
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