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首页> 外文期刊>Industrial Electronics, IEEE Transactions on >Distributed-Torque-Based Independent Joint Tracking Control of a Redundantly Actuated Parallel Robot With Two Higher Kinematic Pairs
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Distributed-Torque-Based Independent Joint Tracking Control of a Redundantly Actuated Parallel Robot With Two Higher Kinematic Pairs

机译：具有两个较高运动学对的冗余驱动并联机器人的基于转矩的独立联合跟踪控制

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摘要

A redundantly actuated parallel robot of the 6RSS mechanism involving two point-contact higher kinematic pairs (HKPs) has been developed for the evaluation of food texture changes during the process of mastication. To accomplish this, a fundamental capability of reproducing complex mandibular motions of human subjects in a biomimetic manner is required. In this paper, first, the mechanism and experimental setup of the robot are described, followed by five performance criteria proposed for the torque distribution across the robot. Second, the distributed torque is employed as a feedforward to enhance the independent joint control for the tracking of the mandibular movement. The frictional effects are compensated for to further improve the tracking accuracy. Finally, experiments are carried out to evaluate and compare the proposed control algorithms with the robot being commanded to reproduce a real human mandibular motion in free chewing, chewing a silicone gel, and chewing a wooden stick. The results illustrate that the robot is able to emulate complex mandibular motions, the distributed-torque-based joint control significantly enhances the motion tracking accuracy, and the friction compensation can further improve the motion tracking performance.
机译：已经开发了一个冗余驱动的6RSS机构并联机器人，该机器人涉及两个点接触式高级运动学对（HKP），用于评估咀嚼过程中食物质地的变化。为此，需要以仿生方式再现人类对象的复杂下颌运动的基本能力。在本文中，首先，描述了机器人的机理和实验装置，然后提出了五个性能标准，这些标准针对跨机器人的扭矩分配提出了建议。第二，分配的扭矩用作前馈，以增强对下颌运动的跟踪的独立关节控制。摩擦效果得到补偿，以进一步提高跟踪精度。最后，进行实验以评估和比较所提出的控制算法，并命令该机器人自由咀嚼，咀嚼硅胶和咀嚼木棍来再现真实的人类下颌运动。结果表明，该机器人能够模拟复杂的下颌运动，基于分布式扭矩的关节控制显着提高了运动跟踪精度，而摩擦补偿可​​进一步改善运动跟踪性能。

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