STUDY FOR CONTROL OF INCOMPLETELY RESTRAINED PARALLEL WIRE ROBOT SYSTEM

研究了一种不完全约束并联线驱动机器人系统的控制方法。以下是本研究的结果。1)基于逆动力学的并联线驱动机器人系统反馈控制方法。讨论了一般并联线驱动机器人系统的逆动力学分析。2)通过数值仿真对控制方法进行了验证。在仿真中，建立了机器人系统的正运动学和逆运动学模型。3)利用已有的并联线驱动机器人进行控制实验，验证了基于逆动力学的控制方法的有效性。验证了无摆动轨迹跟踪控制能力。4)作为该控制方案的应用，开发了一种龙门起重机自动紧急停车控制系统，该系统在起重机运行过程中，即使有人进入起重机工作空间，也是安全的。5)为了精确估计并联线驱动机器人的悬吊物体的位置和姿态，提出了一种新的线摆角测量机构。然后，利用状态估计观测器和测量机构，提出了一种状态估计方法。6)利用并联线驱动机器人和摆角测量机构，进行了轨迹跟踪控制实验。最后，验证了该方法对悬浮物状态估计的有效性。

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.