Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Servo Control Method of Parallel Redundant Cable Mechanism Based on Hyperellipsoid 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 the problems of control rate and solution efficiency, and achieve the effects of continuous tension control, high-frequency vibration suppression, and simple structure

Active Publication Date: 2022-04-12
CHINA ACADEMY OF SPACE TECHNOLOGY
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Servo Control Method of Parallel Redundant Cable Mechanism Based on Hyperellipsoid Mapping Analytical Algorithm
  • Servo Control Method of Parallel Redundant Cable Mechanism Based on Hyperellipsoid Mapping Analytical Algorithm
  • Servo Control Method of Parallel Redundant Cable Mechanism Based on Hyperellipsoid Mapping Analytical Algorithm

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a servo control method for a parallel redundant flexible cable mechanism based on a hyperellipsoid mapping analysis algorithm, including feedback control pseudo-commands and pseudo-command analysis distribution of parallel redundant flexible cable mechanisms; feedback control pseudo-commands are realized through PID control; pseudo-command analysis The allocation method is implemented by the hyperellipsoidal mapping method. The invention solves the problem that the existing parallel redundant flexible cable mechanism servo control system needs on-line optimization, the feedback control rate is composed of simple matrix operations, the structure is simple, easy to realize, and the on-line solution 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1623B25J9/1607
Inventor 耿新宇李萌郑威
Owner CHINA ACADEMY OF SPACE TECHNOLOGY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com