当前位置: X-MOL 学术IEEE ASME Trans. Mechatron. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Design and Experimental Validation of a 3-DOF Underactuated Pendulum-Like Robot
IEEE/ASME Transactions on Mechatronics ( IF 6.4 ) Pub Date : 2019-10-17 , DOI: 10.1109/tmech.2019.2947915
Lorenzo Scalera , Alessandro Gasparetto , Damiano Zanotto

This article presents the design and the experimental validation of a novel 3-degree-of-freedom (DOF) pendulum-like cable-driven robot capable of executing point-to-point motions by leveraging partial feedback linearization control and on-line trajectory planning based on adaptive frequency oscillators (AFOs). Unlike most cable-suspended parallel robots, which rely on at least n actuated cables to control n DOF, the proposed robot is capable of performing 3-DOF point-to-point motions, from a starting pose to a goal one within its dynamic workspace, by means of two actuators only. Feedback linearization allows the dynamics of the variable-length pendulum to be decoupled from the orientation of the end effector, enabling the device to use parametric excitation to control the oscillations of the variable-length pendulum, akin to a playground swing. A pool of AFOs is introduced to enable smooth, lag free on-line estimations of the current phase of the pendulum oscillation to inform the on-line planner and the parametric excitation controller. Experimental results demonstrate feasibility of the proposed design and control approach.

中文翻译:

三自由度欠驱动摆式机器人的设计与实验验证

本文介绍了一种新型3自由度(DOF)摆式电缆驱动机器人的设计和实验验证,该机器人可通过利用部分反馈线性化控制和在线轨迹规划来执行点对点运动基于自适应频率振荡器(AFO)。与大多数电缆悬挂的并联机器人不同,后者至少需要n条驱动电缆来控制n个自由度,而所提出的机器人则能够在其动态工作空间中执行从起始姿势到目标位置的3自由度点对点运动。 ,仅通过两个执行器。反馈线性化允许可变长度摆锤的动力学与末端执行器的方向分离,从而使该设备能够使用参数激励来控制可变长度摆锤的振动,类似于运动场的摆动。引入了一组AFO,以实现对摆锤振荡当前相位的平滑,无滞后的在线估计,以告知在线计划器和参数激励控制器。实验结果证明了所提出的设计和控制方法的可行性。
更新日期:2020-04-22
down
wechat
bug