Rope-driven parallel robot friction modeling method and system
By constructing a multi-input and multi-output SVGP friction coupling model and performing dynamic friction feedforward compensation, the complexity problem of friction modeling of the rope-driven parallel robot is solved and the control accuracy is improved.
Patent Information
- Application Number
- CN202510739127.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-04
- Publication Date
- 2025-09-19
AI Technical Summary
The multi-degree-of-freedom nonlinear friction of rope-driven parallel robots seriously restricts high-precision control performance. Traditional models find it difficult to describe the synergistic effect of coupled friction. Data-driven methods require massive training data and lack interpretability. Gaussian processes have high computational complexity and cannot be deployed in real time.
A composite excitation trajectory is used to stimulate joint friction force data, and a multi-input and multi-output SVGP friction coupling model is constructed. The model parameters are optimized through variational inference and lightweight training, and then deployed to a real-time control system for dynamic friction feedforward compensation.
The position tracking error and phase lag of the rope-driven parallel robot are significantly reduced, the control accuracy is improved, and the problem of high-precision modeling of multi-degree-of-freedom strongly coupled friction is solved.