logo
科言猫学术研究的AI总结
language
手机端手机端
  • Phone Feature微信小程序
简体中文简体中文
notice消息通知
博客博客
delete
arrow
返回

Configuration design method for cable-driven parallel robot considering force control errors and external uncertain wrenches

delete2025-08-26
delete0
PRE
AI
秦志伟 封面图
秦志伟 (Zhiwei Qin)
Z
Zhen Liu
J
Junyu Wang
H
Huibo Zhang
J
Jianan Xu
DOI：10.1007/s10409-025-24425-xdelete
delete原文链接
delete原文求助
delete分享
delete收藏
摘要

摘要

En 中文
本研究提出了一种冗余索驱动并联机器人在混合控制下的构型设计方法，其中选定的冗余索采用力控制，而其他索在关节空间中进行长度控制。基于以索张力向量作为基的空间，分析了混合关节空间控制策略的一般力矩可行性。本研究阐述了一个新的性能指标，即一般力决定的索可调力，该指标不仅考虑了外部干扰力和力矩，还考虑了控制器的索力控制误差。开发了一种结合无碰撞和力矩可行性检测的构型设计方法，以获得最优参数。在实验案例研究中，考虑了带有外部干扰力和力矩的轨迹，其中末端执行器的质心保持未知，并且在混合关节空间控制策略下也考虑了力控制误差。我们发现，混合关节空间控制能够显式控制索力和索长，并通过适当的构型设计，能够在不确定的外部干扰力和力矩下以高精度承载负载。

期刊

A
Acta Mechanica Sinica
IF:
4.6
论文数:
2.9K
被引数:
4.7K

机构

C
College of Mechanical and Electrical Engineering
学者数:
868
论文数: 272
被引数: 0
S
State Key Laboratory of Robotics and System
学者数:
87
论文数: 22
被引数: 0
引用论文

引用论文

Initial-Pose Self-Calibration for Redundant Cable-Driven Parallel Robot Using Force Sensors Under Hybrid Joint-Space Control
errIEEE Robotics and Automation Letters
IF0
err2023-03-01
err0
PREAI
errLiu,Zhen; Qin,Zhiwei; Gao,Haibo; Sun,Guangyao; Huang,Zhongshan; Deng,Zongquan
err分享
err收藏
Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast
errChinese Journal of Mechanical Engineering
IF0
err2020-08-12
err0
errOAAI
errTao Zhao; Bin Zi; Sen Qian; Jiahao Zhao
err分享
err收藏
Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots
errJournal of Mechanisms and Robotics
IF0
err2017-03-20
err0
PREAI
errSaeed Abdolshah; Damiano Zanotto; Giulio Rosati; Sunil K. Agrawal
err分享
err收藏
Motion control of a tendon-based parallel manipulator using optimal tension distribution
errIEEE-ASME TRANSACTIONS ON MECHATRONICS
IF7.3
err2004-09-01
err233
PREAI
errFang, SQ; Franitza, D; Torlo, M; Bekes, F; Hiller, M
err分享
err收藏
A nullspace-based force correction method to improve the dynamic performance of cable-driven parallel robots一种基于零空间的力量校正方法，用于提高索驱动并联机器人的动态性能
errMechanism and Machine Theory
IF0
err2023-03-01
err0
errOAAI
errMarc Fabritius; Guillermo Rubio-Gómez; Christoph Martin; João Cavalcanti Santos; Werner Kraus; Andreas Pott
err分享
err收藏
Fusion reactor handling operations with cable-driven parallel robots
errFusion Engineering and Design
IF0
err2015-10-01
err0
PREAI
errIzard,Jean-Baptiste; Michelin,Micael; Baradat,Cédric
err分享
err收藏
Reconfigurable fully constrained cable driven parallel mechanism for avoiding interference between cables
errMechanism and Machine Theory
IF0
err2020-06-01
err0
PREAI
errKhaled Youssef; Martin J.-D. Otis
err分享
err收藏
Practical robust control of cable-driven robots with feedforward compensation
errADVANCES IN ENGINEERING SOFTWARE
IF5.7
err2020-07-01
err13
PREAI
errWang, Yaoyao; Liu, Lufang; Chen, Jiawang; Ju, Feng; Chen, Bai; Wu, Hongtao
err分享
err收藏
A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots
errMechanisms and Machine Science
IF0
err2023-01-01
err0
PREAI
errMattioni,Valentina; Idà,Edoardo; Gouttefarde,Marc; Carricato,Marco
err分享
err收藏
Control of a large redundantly actuated cable-suspended parallel robot
err2013 IEEE International Conference on Robotics and Automation
IF0
err2013-05-01
err0
PREAI
errJohann Lamaury; Marc Gouttefarde
err分享
err收藏
学者 查看更多内容