论文标题
运动学约束的平面混合电缆驱动的平行机器人的建模，振动控制和轨迹跟踪
Modeling, Vibration Control, and Trajectory Tracking of a Kinematically Constrained Planar Hybrid Cable-Driven Parallel Robot
论文作者
论文摘要
本文为仓库应用以及其他潜在应用（例如康复）提供了运动学上约束的平面混合电缆驱动的平行机器人（HCDPR）。拟议的HCDPR可以利用串行和电缆驱动的平行机器人的优势和好处。基于这个机器人平台，本文的目标是开发一个集成控制系统，以减少振动并提高HCDPR的轨迹准确性和性能，包括得出运动学和动态方程，提出解决僵硬的冗余和优化的解决方案，以及开发两个运动和振动控制策略（对照组I和II）。最后，进行了不同的案例研究以评估控制性能，结果表明控制器II可以更好地实现目标。
This paper presents a kinematically constrained planar hybrid cable-driven parallel robot (HCDPR) for warehousing applications as well as other potential applications such as rehabilitation. The proposed HCDPR can harness the strengths and benefits of serial and cable-driven parallel robots. Based on this robotic platform, the goal in this paper is to develop an integrated control system to reduce vibrations and improve the trajectory accuracy and performance of the HCDPR, including deriving kinematic and dynamic equations, proposing solutions for redundancy resolution and optimization of stiffness, and developing two motion and vibration control strategies (controllers I and II). Finally, different case studies are conducted to evaluate the control performance, and the results show that the controller II can achieve the goal better.
