悬索机器人动态工作空间在线时间最优轨迹规划

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI:10.1109/ICROM.2014.6990907

A. Sharifi, H. Taghirad

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引用次数: 3

摘要

提出了一种悬索机器人在线轨迹规划方法。本文以三自由度空间缆索机器人为研究对象。通过推导机器人的动力学模型，索力约束会在动力学方程中引出一组代数不等式。所需跟踪加速度的方向反映了机器人的可行运动，保证了不违反索力双边边界。所需的跟踪加速度是在瞬时方向减去指定大小的期望速度矢量。此外，采用备选方案来减少不必要输入的负面影响，并在轨迹规划中应用执行器约束。最后通过仿真验证了该方法的有效性。所提出的方法可用于所有缆索驱动并联悬架机器人的在线轨迹跟踪，类似于所提出的三自由度机器人的实现。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Online time-optimal trajectory planning in dynamic workspace of cable suspended robots

This paper presents a method for online trajectory planning of cable suspended robots. A three degrees-of-freedom spatial cable robot is studied in this analysis. By deriving dynamic model of the robot, cable force restrictions will induce a set of algebraic inequalities in dynamic equations. Direction of required tracking acceleration reveals feasible motion of the robot, which guarantees non-violation of cable force bilateral bounds. Required tracking acceleration is in the direction of instantaneous minus desired velocity vectors with specified magnitude. Furthermore, alternative recipes are employed to decrease negative impacts of unwanted inputs and applying actuator constraints in trajectory planning. Finally, several simulations are presented to demonstrate success of the method. Proposed approach can be used in online trajectory tracking for all cable-driven parallel suspended robots akin to what is realized for the presented three degrees-of-freedom robot.

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来源期刊

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

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