Control method, system and storage medium for adaptive anti-relaxation of rope-driven joints
By applying adaptive control methods in rope driving joints, the problem of reducing motion accuracy caused by loose ropes is solved, and the rope always maintains appropriate tension, improving motion accuracy and stability.
CN119347787BActive Publication Date: 2025-03-25启元实验室
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Patent Information
- Application Number
- CN202411899357.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2025-03-25
- Estimated Expiration
- 2044-12-23
AI Technical Summary
Technical Problem
The rope driving joint mechanism is prone to loosening of the rope during movement, resulting in a decrease in the movement accuracy.
Method used
By introducing an adaptive control method into the rope drive joint, the dynamic target and safety torque are determined based on the preset dynamic parameters, the angular displacement, torque and rope shape variables of the movable part and the driving part are calculated, the desired trajectory and control torque are determined, and the rope is always maintained with appropriate tension.
Benefits of technology
It effectively avoids loose ropes and improves the movement accuracy and stability of rope drive joints.
✦ Generated by Eureka AI based on patent content.
Abstract
The present application discloses a control method, system and storage medium for adaptive anti-relaxation of a rope-driven joint, and relates to the technical field of rope-driven joint control. The control method includes: determining the dynamic target of the rope-driven joint and the safety torque of the active part; determining the angular displacement of the active part, the moment of inertia of the active part, the angular displacement of the driving part, the rope deformation of the first rope and the rope deformation of the second rope; determining the desired trajectory of the active part; determining the desired torque of the active part; determining the desired trajectory of the driving part according to the angular displacement of the active part and the desired torque of the active part; determining the control torque of the driving part according to the angular displacement of the active part, the angular displacement of the driving part, the desired trajectory of the driving part, the rope deformation of the first rope and the rope deformation of the second rope. The control method can avoid the loosening problem of the first rope and the second rope during the movement of the driving part and the rope-driven joint.
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