STUDY FOR CONTROL OF INCOMPLETELY RESTRAINED PARALLEL WIRE ROBOT SYSTEM

本研究旨在发展一种不完全约束并联柔索机器人系统之控制方法。主要研究成果如下：1）并联柔索机器人系统的逆动力学反馈控制方法。对一般并联柔索驱动机器人系统进行了逆动力学分析。2）通过数值仿真验证了控制方法的有效性。在仿真中，建立了机器人系统的正、逆运动学模型。3）利用现有并联柔索驱动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）作为该控制方案的应用，开发了一种门式起重机的自动紧急停车控制系统，在起重机工作过程中，即使有人进入起重机的工作空间，该系统也是安全的。提出了一种新的钢丝摆角测量机构。6）利用并联绳牵引机器人和摆角测量机构，进行了轨迹跟踪控制实验。验证了该方法对悬浮物体状态估计的有效性。

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.