摘要
绳驱柔性机械臂具有高形变、质量小、能耗低等优点,伴随机器人应用的发展,针对绳驱软柔性机械臂的精准建模与有效控制成为国内外学者的重点研究方向。本文综述了绳驱柔性机械臂建模与控制方法,从建模方法上分析其运动学、动力学及静力学建模,并分别从基于模型与无模型两方面对控制方法进行归纳总结。其中,基于模型的控制方法分为运动学与动力学建模两类,而无模型控制方法包括模糊控制、神经网络控制、自适应控制与滑模控制等。最后,对绳驱柔性机械臂建模与运动控制未来的研究方向进行展望。
The cable-driven flexible manipulator has several advantages,such as high deformation,small mass,and low energy consumption.With the development of robotic applications,the precise modeling and effective control of cable-driven flexible manipulators have become a key research direction for domestic and foreign scholars.This study reviews cable-driven flexible manipulators'modeling and control methods;analyzes their kinematic,dynamic,and static modeling from the modeling method;and summarizes the control methods from model-based and model-free perspectives.The model-based control methods are divided into kinematic and dynamic modeling.Meanwhile,the model-free control methods include fuzzy,neural network,adaptive,and sliding mode control.Finally,the future research direction of modeling and motion control of cable-driven flexible manipulators prospects.
作者
谭晨羽
许朋
李平
喻洪流
TAN Chenyu;XU Peng;LI Ping;YU Hongliu(Institute of Rehabilitation&Technology,University of Shanghai for Science&Technology,Shanghai 200093,China;Shanghai Engineering Research Center of Assistive Devices,Shanghai 200093,China;Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs,Shanghai 200093,China)
出处
《信息与控制》
CSCD
北大核心
2023年第3期277-291,共15页
Information and Control
基金
国家重点研发计划(2022YFC3601400)。
关键词
连续型机器人
柔性机械臂
绳线驱动
建模方法
运动控制
continuous robots
flexible manipulator
cable-driven
modelling method
motion control
