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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Kinematics, Dynamics, and Control of a Cable-Driven Hyper-Redundant Manipulator
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Kinematics, Dynamics, and Control of a Cable-Driven Hyper-Redundant Manipulator

机译：电缆驱动的超冗余机械手的运动学，动力学和控制

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摘要

A cable-driven hyper-redundant manipulator has superior dexterity for confined space applications. However, the modeling and control considering the cables are very complex. In this paper, we established the kinematics and dynamics models and proposed a dynamics control strategy. The multilevel mapping between the motors, cables, joints, and end-effector was first analyzed. The corresponding kinematics equations were derived and solved by combining analytical and numerical methods. Especially, the cable coupling relationship was established and a decoupling method was addressed to compensate the coupled motion between cables. Furthermore, we derived the dynamics equations including the cable forces and the joint variables. Considering practical control requirements, the cables' forces were distributed by simplifying the dynamics equations and obtaining the minimal solutions. Then, we presented a dynamics control strategy, which uses the forward and inverse kinematics of multilevel mapping for motion resolution and compensation, and computes the feedforward torques for the motors using recursive dynamics and “cable force-motor torque” relationship. Finally, a prototype and a truss inspection experiment system were developed to verify the corresponding models and methods. Experiment results show that the derived kinematic and the dynamic equations, and the proposed dynamic control strategy are effective.
机译：电缆驱动的超冗余机械手在有限的空间应用中具有出色的灵活性。但是，考虑电缆的建模和控制非常复杂。在本文中，我们建立了运动学和动力学模型，并提出了动力学控制策略。首先分析了电动机，电缆，接头和末端执行器之间的多级映射。结合分析和数值方法，推导并求解了相应的运动学方程。特别是，建立了电缆耦合关系，并提出了一种去耦方法来补偿电缆之间的耦合运动。此外，我们导出了包括缆索力和接头变量在内的动力学方程。考虑到实际控制要求，通过简化动力学方程式并获得最小解来分配电缆的力。然后，我们提出了一种动力学控制策略，该策略使用多级映射的正向和反向运动学来进行运动分辨率和补偿，并使用递归动力学和“电缆力-电动机转矩”关系来计算电动机的前馈转矩。最后，开发了原型和桁架检查实验系统以验证相应的模型和方法。实验结果表明，所推导的运动学方程和动力学方程以及所提出的动态控制策略都是有效的。

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