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Rope-driven parallel robot motion control method in consideration of elasticity effect and compensation

A technology of robot movement and control method, which is applied in the field of robotics and can solve problems such as low movement precision and low system rigidity

Inactive Publication Date: 2016-09-28
XIAMEN UNIV
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Problems solved by technology

[0007] The purpose of the present invention is to overcome the above-mentioned deficiencies existing in the prior art, and to provide a consideration mainly for solving problems such as low motion precision and low system stiffness in the existing control method of the rope traction parallel robot in the motion process. Motion control method of rope traction parallel robot based on elastic influence and compensation

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  • Rope-driven parallel robot motion control method in consideration of elasticity effect and compensation

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Embodiment

[0063] The proposed motion control method of a rope-pulled parallel robot considering the effect and compensation of rope elasticity is applied to a six-degree-of-freedom parallel robot pulled by eight ropes. The parallel robot is as follows: image 3 As shown, the moving platform 1 takes the aircraft model as an example, which is pulled by eight traction ropes 2; the pulley 3 is fixed on the frame 4; the length of the traction rope 2 is adjusted by the motor through the pulley 3, thereby changing the position and attitude of the aircraft model 1; The pose of the aircraft model 1 can be obtained by measuring the monocular vision 5 , which is installed on the gimbal 6 fixed on the frame 7 . The control method of this embodiment is implemented as follows:

[0064] 1) Error analysis of moving platform 1 caused by elastic deformation of traction rope 2

[0065] According to the definition of the coordinate system, the origin of the static coordinate system is located at the cente...

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Abstract

The invention discloses a rope-driven parallel robot motion control method in consideration of elasticity effect and compensation, and relates to a robot. The method comprises the steps of constructing a system dynamic equation for rope pull optimization and controller design; optimizing rope pull distribution according to an expected moving platform motion track based on the system dynamic equation and a constraint condition by adopting a rope pull dynamic optimization model taking maximum rigidity weight as a target function, and calculating the deformation; analyzing a moving platform pose error caused by elastic deformation of a pull rope via kinematic forward analysis according to the actual rope length and the deformation; acquiring the actual motion state of a visual measurement moving platform, and taking the deviation between the actual motion state and the expected motion state as a control quantity; designing a controller; and calculating a control drive torque instruction according to the designed controller, and finally controlling the motion track of the moving platform and the pull of the rope, thereby meeting the requirement of the working condition.

Description

technical field [0001] The invention relates to a robot, in particular to a motion control method for a rope-drawn parallel robot considering elastic influence and compensation. Background technique [0002] Cable-Driven Parallel Supporting System (Cable-Driven Parallel Supporting System, also known as Cable-Driven Parallel Supporting System) is a new type of mechanism based on robot technology. Compared with the traditional rigid connection parallel mechanism, the biggest advantage of the former is its scalability. It is easy to realize a large working space by adjusting the length of the rope through the transmission mechanism. At the same time, it has the characteristics of simple structure, low cost, small inertia, and flexible movement. It is very suitable for machining, robot cranes, aerospace and other fields. research hotspot. [0003] The rope traction parallel support system is essentially a complicated strong coupling, multi-input and multi-output, nonlinear time...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/041G05B13/042
Inventor 王晓光张小城马少宇林麒
Owner XIAMEN UNIV
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