Trajectory control of incompletely restrained parallel-wire-suspended mechanism based on inverse dynamics
Trajectory control of incompletely restrained parallel-wire-suspended mechanism based on inverse dynamics
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DOI：
10.1109/tro.2004.829501
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发表时间：
2004-10
影响因子：
7.8
通讯作者：
Motoji Yamamoto;N. Yanai;A. Mohri
中科院分区：
文献类型：
--
作者：
Motoji Yamamoto;N. Yanai;A. Mohri
本文讨论了平行线机构，其中该机构的末端执行器由多根线悬挂。与桥式起重机等典型的钢丝悬挂式机构不同，该机构不仅可以实现三维 (3-D) 定位，还可以对末端执行器进行 3-D 定向。为了一般性地讨论平行线悬挂机构，提出了两种形式的基本动力学方程。然后根据基本方程将平行线机构分为两类。讨论了两种类型的线悬式定位机构的动力学特性。本文主要讨论线悬挂机构之一的不完全约束型并联线机构的逆动力学问题和轨迹控制问题。不完全约束型机构的逆动力学问题在其控制问题中起着重要作用，因为该机构基于对受其动力学控制的悬挂物体的不完全约束而具有较低的刚度。本文提出了一种悬挂物体的防摇控制方法。该方法利用逆动力学计算进行非线性动力学补偿，对不完全约束平行线机构的悬浮物体进行控制。
This paper discusses parallel wire mechanisms where an end-effector of the mechanism is suspended by multiple wires. The mechanisms enable not only three-dimensional (3-D) positioning but also 3-D orienting of the end-effector, unlike typical wire suspension-type mechanisms such as overhead crane. To discuss the parallel-wire-suspended mechanisms generally, two forms of basic dynamic equations are presented. Then the parallel wire mechanisms are classified into two types based on the basic equations. Dynamical properties of the two types of wire-suspended positioning mechanism are discussed. In this paper, one of the wire-suspended mechanism, incompletely restrained-type parallel wire mechanism, is mainly discussed on its inverse dynamics problem and its trajectory control problem. The inverse dynamics problem for the incompletely restrained-type mechanism plays an important role on its control problem, because the mechanism has low stiffness based on incomplete constraints on the suspended object which is governed by its dynamics. The paper proposes an antisway control method for the suspended object. In the method, the inverse dynamics calculation is used for nonlinear dynamics compensation to control the suspended object of the incompletely restrained parallel wire mechanism.