摘要
为解决绳驱动拟人臂机器人在运动过程中产生的误差累积问题以及确定断电后重启的位姿,介绍一种不依靠外部设备的回零方法,即仅依靠自身检测的传感信息和相应的算法实现自回零.针对三自由度的并联球关节的自动回零问题,结合绳驱动并联机器人的结构特点,系统采用增量式编码器与限位开关相结合作为回零检测装置;在此基础上,对机构的运动耦合性进行了分析,提出分三步实现机器人动平台的原点定位与自动回零方法,并通过解耦控制,实现每步回零运动只需主动控制一条驱动绳索;仿真与实验验证这种三步自动回零算法的可行性,能够灵活准确的使机器人回到初始状态.
In order to solve the problem of error accumulation in motion control and determine the initial posture when restarting, this paper addresses a homing method without using external device, which is, completing self-homing work only depending on self-detected sensor information and the corresponding homing algorithm. As for the self-homing issue of cable-driven parallel robot, combining with the structural characteristics of the cable-driven parallel robot, incremental encoders together with limit switches are chosen as the homing detecting devices. On that basis, kinematics coupling features of the mechanism is analyzed and a novel homing algorithm, that is, an integral three-step method is proposed for origin positioning and automatic homing. Additionally, only one driven cable needs to be actively controlled in each step homing motion by decoupling control. Simulations and experiments have been performed to demonstrate the effectiveness of the homing algorithm, that is, the manipulator can return back to the initial posture dexterously and accurately.
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2013年第2期345-352,共8页
Journal of Zhejiang University：Engineering Science
基金
国家自然科学基金资助项目(50875011
50975017)
机械系统与振动国家重点实验室开放课题资助项目(MSV-2012-12)
关键词
绳驱动
并联机器人
耦合
回零
Cable-driven
parallel manipulator
coupling
homing
