Modeling and Trajectory Tracking Control of a New Parallel Flexible Link Robot
Modeling and Trajectory Tracking Control of a New Parallel Flexible Link Robot
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DOI：
10.1109/iros.2018.8594008
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发表时间：
2018-10
期刊：
影响因子：
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通讯作者：
Merlin B. Morlock;N. Meyer;Marc-André Pick;R. Seifried
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文献类型：
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作者：
Merlin B. Morlock;N. Meyer;Marc-André Pick;R. Seifried
一种全新的柔顺轻型机器人具有运动环和高度灵活的连杆。解释了如何准确地对此类并行机器人进行建模，但仍然具有计算效率。弹性变形用浮动参考系方法描述。对于柔性组件，这允许使用线性有限元模型，该模型可以表示任意几何形状。这些模型通过模态截断和分量模态合成进一步减少，最大限度地减少弹性自由度的数量，这对于实时控制目的是必需的。所获得的欠驱动机器人模型对于末端执行器来说是非最小相位作为输出。因此，对于所应用的基于伺服约束的轨迹跟踪控制器，使用稳定反演的概念。将性能与重新定位的最小相位输出进行比较。相应的模拟通过第一个实验结果得到验证，表明灵活模型和轨迹跟踪控制的必要性和高精度。
A completely new compliant lightweight robot is presented with a kinematic loop and a highly flexible link. It is explained how to model such parallel robots accurately but still computationally efficient. The elastic deformations are described with the floating frame of reference approach. For the flexible components this allows to use linear finite element models, which can represent arbitrary geometries. These models are further reduced by modal truncation and a Component Mode Synthesis minimizing the number of elastic degrees of freedom, which is necessary for real-time control purposes. The obtained model of the underactuated robot is non-minimum phase for the end-effector as output. Thus, for the applied trajectory tracking controller which is based on servo constraints, the concept of stable inversion is used. The performance is compared to a relocated minimum phase output. Corresponding simulations are validated by first experimental results showing the need for and high accuracy of the flexible model and the trajectory tracking control.