De-redundancy control method for eight-cable parallel gravity compensation system
A gravity compensation and control method technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve problems such as high stability and precision, difficult to achieve, and complex motion control of eight-cable parallel robots, so as to improve stability and Accuracy, simple control process, and the effect of reducing the time of the calculation and solution process
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specific Embodiment approach 1
[0030] Specific implementation mode one: combine figure 1 To illustrate this embodiment, the de-redundancy control method of the eight-cable parallel gravity compensation system given in this embodiment specifically includes:
[0031] The position and attitude of the moving platform are actively controlled by 6 ropes to realize the 6 degrees of freedom of movement of the moving platform; the other 2 ropes passively follow the movement of the moving platform, and these 2 ropes provide tension to the moving platform to ensure the movement of the moving platform. When the platform is moving, the 8 ropes are always kept in a tensioned state, realizing the de-redundant control of the moving platform.
[0032] The eight-cable parallel gravity compensation system includes 8 ropes 1-1, a moving platform 1-2 and 8 rope output modules 1-3; one end of each rope 1-1 is connected to a vertex of the moving platform 1-2, The other end is connected to the corresponding rope-out module 1-3, a...
specific Embodiment approach 2
[0033] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the specific process of actively controlling the position and attitude of the moving platform by 6 ropes includes:
[0034] The position and attitude control of the moving platform can be realized by the inverse kinematics of the parallel robot, such as figure 2 Shown: Let OXYZ represent a fixed base coordinate system, PX 1 Y 1 Z 1 Indicates the coordinate system established on the center of mass P of the moving platform, that is, establishes a fixed coordinate system OXYZ as the reference coordinate, the coordinates of any point in space in OXYZ are fixed, and in PX 1 Y 1 Z 1 is relatively changed; A i Indicates the exit point of rope i, B i Indicates the connection point between the rope i and the moving platform, p indicates the position vector of the center of mass of the moving platform in the OXYZ coordinate system, b i means B iin PX 1 Y 1 Z 1 The position vector of the coor...
specific Embodiment approach 3
[0039] Specific embodiment 3: The difference between this embodiment and specific embodiment 2 is that the 2 ropes passively follow the movement of the moving platform, and the ropes provide tension to the moving platform to ensure that the 8 ropes are always kept in tension when the moving platform is in motion. The process is:
[0040] Step 1. Let the tension of the two ropes that passively follow the movement of the moving platform be t 7 , t 8 , calculate the tension value t of the other 6 ropes 1 ,...,t 6 with t 7 , t 8 Relationship;
[0041] The relationship between the rope tension of the eight-cable parallel gravity compensation system and the force on the moving platform is shown in formula (2):
[0042] Wt=f (2)
[0043] In formula (2), t=[t 1 ,...,t 8 ] T is the rope tension vector, t 1 ,...,t 8 are the pulling force of the 8 ropes respectively, f represents the combined external force and moment on the center of mass of the moving platform, W=[w 1 ,......
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