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Dynamic modeling and trajectory tracking control method of segmented linkage cable-driven hyper-redundant robot
Nonlinear Dynamics ( IF 5.6 ) Pub Date : 2020-06-29 , DOI: 10.1007/s11071-020-05764-7
Jianqing Peng , Wenfu Xu , Taiwei Yang , Zhonghua Hu , Bin Liang

The dynamics modeling and trajectory optimization of a segmented linkage cable-driven hyper-redundant robot (SL-CDHRR) become more challenging, since there are multiple couplings between the active cables, passive cables, joints and end-effector. To deal with these problems, this paper proposes a dynamic modeling and trajectory tracking control methods for such type of CDHRR, i.e., SL-CDHRR. First, the multi-coupling kinematics equation (i.e., cable-joint-end) of the hyper-redundant robot is derived. Then, according to the transmission characteristics of the hybrid active/passive segmented linkage, the dynamic equation of series–parallel coupling is derived. It consists of parallel-active dynamics and series-passive dynamics. Furthermore, using the tension of active cables and the pose of the end-effector as optimization indicators, a trajectory tracking framework was constructed by the combination of dynamic feedforward control and PD control. The multi-objective particle swarm optimization method is used to achieve the simultaneous optimization of the energy indicator and control accuracy indicator during the trajectory tracking process. Finally, a MATLAB/SimMechanics co-simulation system is built, and the proposed methods are verified by the built co-simulation system.



中文翻译:

分段联动式电缆超冗余机器人的动态建模和轨迹跟踪控制方法

分段链接电缆驱动的超冗余机器人(SL-CDHRR)的动力学建模和轨迹优化变得更具挑战性,因为有源电缆,无源电缆,接头和末端执行器之间存在多种耦合。为了解决这些问题,本文提出了一种针对此类CDHRR(即SL-CDHRR)的动态建模和轨迹跟踪控制方法。首先,推导超冗余机器人的多重耦合运动学方程(即,电缆接头端)。然后,根据混合主动/被动分段连杆的传递特性,推导了串并联耦合的动力学方程。它由并联主动动力学和串联被动动力学组成。此外,使用活动电缆的张力和末端执行器的姿势作为优化指标,动态前馈控制和局部放电控制相结合,建立了轨迹跟踪框架。采用多目标粒子群优化方法实现了轨迹跟踪过程中能量指标和控制精度指标的同时优化。最后,建立了MATLAB / SimMechanics协同仿真系统,并通过所建立的协同仿真系统对所提出的方法进行了验证。

更新日期:2020-06-29
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