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首页> 外文期刊>IEEE Transactions on Robotics >Generation of Feasible Set Points and Control of a Cable Robot
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Generation of Feasible Set Points and Control of a Cable Robot

机译：可行设定点的生成和电缆机器人的控制

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Cable-suspended robots are structurally similar to parallel-actuated robots, but with the fundamental difference that cables can only pull the end-effector, but not push it. These input constraints make feedback control of cable-suspended robots a lot more challenging than their counterpart parallel-actuated robots. In this paper, we present a computationally efficient control design procedure for a cable robot with six cables, which is kinematically determined as long as all cables are in tension. The control strategy is based on dynamic aspects of statically feasible workspace. The basic idea suggested in this paper is to represent the reachable domain in terms of achievable set points under a specified control law that respects the input constraints. This computational framework is recursively used to find a set of reachable domains, using which, we are able to expand the region of feasibility by connecting adjacent domains through common points. The salient feature of the technique is that it is computationally efficient, or online implementable, for the control of a cable robot with positive input constraints. However, due to the complexity of the dynamics of general motion of a cable robot, we consider only translations. No cable interference is considered in this paper. Finally, the effectiveness of the proposed method is illustrated by numerical simulations and laboratory experiments on a six-degree-of-freedom cable-suspended robot.
机译：电缆悬挂的机器人在结构上与并行驱动的机器人相似，但基本的区别在于电缆只能拉动末端执行器，而不能推动末端执行器。这些输入限制使电缆悬架机器人的反馈控制比其并行并联机器人更具挑战性。在本文中，我们提出了具有六根电缆的电缆机器人的有效计算控制设计程序，只要所有电缆都处于张紧状态，就可以通过运动学确定。控制策略基于静态可行工作空间的动态方面。本文提出的基本思想是，在遵守输入约束的特定控制律下，根据可达到的设定点来表示可到达域。该计算框架被递归用于查找一组可到达的域，使用这些域，我们能够通过公共点连接相邻域来扩展可行性区域。该技术的显着特征是，对于具有正输入约束的电缆机械手的控制，它的计算效率高或可在线实施。但是，由于电缆机械手的一般运动的复杂性，我们仅考虑平移。本文不考虑电缆干扰。最后，通过六自由度电缆悬挂机器人的数值模拟和实验室实验说明了该方法的有效性。

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