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STUDY FOR CONTROL OF INCOMPLETELY RESTRAINED PARALLEL WIRE ROBOT SYSTEM

不完全约束并联线机器人系统控制研究

基本信息

批准号：
15560221
负责人：
YAMAMOTO Motoji
金额：
$ 1.98万
依托单位：
KYUSHU UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2004
项目状态：
已结题

项目摘要

This study aims to develop a control method for incompletely restrained parallel wire-driven robot system. The following s present results of this research.1)A feed-back control method based on an inverse dynamics of the parallel wire-driven robot system. The inverse dynamics analysis for general parallel wire-driven robot system is also discussed.2)The control method is verified by numerical simulations. In the simulation, forward and inverse kinematics models of the robot system are newly developed.3)Control experiments using existing parallel wire-driven robot have shown validity of the proposed control method based on inverse dynamics. Sway-less trajectory tracking control ability has been confirmed.4)As an application of the control scheme, an automatic emergency stop control system for a gantry crane is developed, where the system is safe even human enters crane's working space during the crane is operated.5)For precise estimation for position and orientation of the suspended object of the parallel wire-driven robot, new mechanism to measure swing angles of wires is proposed. Then a state estimation method is developed using a state estimation observer and the measuring mechanism.6)Using the parallel wire-driven robot and the swing angle measuring mechanism, a trajectory tracking control experiment has been done. Then a validity of the proposed mechanism to estimate the state of suspended object is confirmed.

本研究旨在开发一种非完全约束并联绳索机器人系统的控制方法。1)提出了一种基于逆动力学的并联绳索机器人系统反馈控制方法。对一般并联绳索机器人系统进行了逆动力学分析。2)通过数值仿真对控制方法进行了验证。在仿真中，新建立了机器人系统的正逆运动学模型。3)利用已有的并联绳索机器人进行控制实验，验证了所提出的基于逆动力学的控制方法的有效性。4)作为控制方案的应用，开发了一种门式起重机紧急停车自动控制系统，即使在起重机运行过程中进入起重机的工作空间，系统也是安全的。5)为了精确估计并联绳索机器人悬挂物的位置和姿态，提出了一种新的钢丝绳摆角测量机构。利用状态估计观测器和测量机构设计了状态估计方法。6)利用并联绳索机器人和摆角测量机构，进行了轨迹跟踪控制实验。验证了所提出的悬浮体状态估计机制的有效性。