Servo control method for parallel redundant flexible cable mechanism based on hyper-ellipsoid mapping analytical algorithm

An analytical algorithm and servo control technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as control rate and solution efficiency, and achieve the effect of continuous control of tension, suppression of high-frequency vibration, and simple structure

Active Publication Date: 2021-03-02
CHINA ACADEMY OF SPACE TECHNOLOGY
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Problems solved by technology

[0005] The technical problem solved by the present invention is: in order to overcome the deficiencies in the prior art, a parallel redundant cable mechanism servo control method based on hyperellipsoidal mapping analytical algorithm is proposed, and PID feedback control is combined with superellipsoidal mapping analytical distribution algorithm to solve The existing parallel redundant flexible cable mechanism active control system needs online iteration to solve the efficiency problem of control rate

Method used

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  • Servo control method for parallel redundant flexible cable mechanism based on hyper-ellipsoid mapping analytical algorithm
  • Servo control method for parallel redundant flexible cable mechanism based on hyper-ellipsoid mapping analytical algorithm
  • Servo control method for parallel redundant flexible cable mechanism based on hyper-ellipsoid mapping analytical algorithm

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Embodiment

[0070] In order to fully understand the characteristics of the present invention and its applicability for engineering practice, the present invention establishes as figure 2 The shown parallel redundant cable mechanism and load constrained environment, 2 degrees of freedom redundant space parallel cable mechanism, the basic dimensions are shown in the following table:

[0071]

[0072] The target trajectory is a straight line between the start point and the end point, and the displacement trajectory is as follows

[0073]

[0074] where T=1s, T a =0.5s, T c = 0s, and represents the complete motion time, acceleration time, constant speed time, v 2 is the uniform speed. The status information of the starting point and the ending point is as follows

[0075]

[0076] In order to more accurately describe the actual environment encountered in the servo control process of the mechanism, the maximum additional boundary is the load disturbance of [-0.3, +0.3], the maxim...

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Abstract

The invention relates to a servo control method for a parallel redundant flexible cable mechanism based on a hyper-ellipsoid mapping analytical algorithm. The servo control method comprises the stepsthat the parallel redundant flexible cable mechanism feeds back a control pseudo instruction and parses and distributes the pseudo instruction; the feedback control pseudo instruction is realized through PID control; and a pseudo instruction analysis and distribution method is realized through a hyper-ellipsoid mapping method. The problem that an existing parallel redundant flexible cable mechanism servo control system needs to be optimized on line is solved, the feedback control rate is composed of simple matrix operation, the structure is simple, implementation is easy, and the on-line solving efficiency is high.

Description

technical field [0001] The invention belongs to the servo control field of parallel redundant flexible cable mechanism, in particular to a parallel redundant flexible cable mechanism servo control method based on hyperellipsoid mapping analysis algorithm. Background technique [0002] Compared with the traditional rigid mechanism, the parallel mechanism with flexible cable tension as the driving force has the characteristics of small inertia, small volume, small accumulated error and large working space, and can meet the requirements of light equipment, high control precision and task package to the greatest extent. It is currently widely used in medical rehabilitation, industrial robots and other fields. Parallel redundant cable mechanism refers to a type of cable drive mechanism in which the number of control cables is greater than the number of degrees of freedom to be controlled. It needs to convert low-dimensional feedback control instructions into high-dimensional tens...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1623B25J9/1607
Inventor 耿新宇李萌郑威
Owner CHINA ACADEMY OF SPACE TECHNOLOGY
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