基于迭代学习反应方法的冗余多连杆与混合绳索驱动并联机器人的三空间操作控制
Tri-Space Operational Control of Redundant Multilink and Hybrid Cable-Driven Parallel Robots Using an Iterative-Learning based Reactive Approach
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中文总结 AI 辅助
针对冗余多连杆与混合CDPR的三空间约束轨迹跟踪难题，本文提出结合RC与ILC的三空间控制框架，经仿真与硬件验证可有效应用于不同CDPR的实时控制。
中文摘要 AI 辅助
绳索驱动并联机器人（Cable-Driven Parallel Robots, CDPRs）是一类以绳索作为执行器的并联机构。由于CDPR的驱动、关节及操作空间（合称三空间）存在两层冗余和大量约束，在满足三空间约束的同时跟踪操作空间给定轨迹极具挑战性。据作者所知，目前不存在任何鲁棒、有效且可直接适用于多种冗余驱动CDPR架构的三空间控制框架。本文提出一种结合反应控制（Reactive Control, RC）与迭代学习控制（Iterative-Learning Control, ILC）的三空间控制框架，用于操作空间中的重复任务。该框架可在线跟踪操作空间轨迹，保证绳索力可行，同时避免绳索-连杆干涉、关节干涉及可操作性丧失等不良情况。此外，通过对零空间向量进行新型参数化，在零空间中寻找最优参数，当任务重复执行时，可通过ILC提升性能。对多种多连杆绳索驱动机器人（Multilink Cable-Driven Robot, MCDRs）和混合绳索驱动机器人（Hybrid Cable-Driven Robots, HCDRs）的仿真与硬件实验结果表明，所提出的三空间控制框架可便捷、有效地应用于不同CDPR的实时控制。
英文摘要
Cable-Driven Parallel Robots (CDPRs) are a type of parallel mechanism in which cables are used as actuators. Due to the two levels of redundancy and numerous constraints within the CDPR actuation, joint and operational spaces (together known as the tri-space), tracking a given trajectory in the operational space while satisfying constraints in tri-space simultaneously is challenging. To the best of the authors' knowledge, there does not exist any tri-space control framework, which is robust, effective, and directly applicable to several architectures of redundantly actuated CDPRs. This paper proposes a tri-space control framework that combines Reactive Control (RC) and Iterative-Learning Control (ILC) to perform repetitive tasks in the operational space. The framework allows the tracking of operational space trajectories online with feasible cable forces, while avoiding undesirable situations such as cable-link interference, joint interference, and loss of manipulability. On the other hand, by finding an optimal parameter in the null space using a novel parameterization of a null space vector, the performance can be improved through ILC when the task is repeatedly executed. Simulation and hardware results on various Multilink Cable-Driven Robot (MCDRs) and Hybrid Cable-Driven Robots (HCDRs) show that the proposed tri-space control framework can be conveniently and effectively applied to the real-time control of different CDPRs.
