论文标题
通过混合电缆驱动机器人的扭矩优化的冗余分辨率和干扰拒绝
Redundancy Resolution and Disturbance Rejection via Torque Optimization in Hybrid Cable-Driven Robots
论文作者
论文摘要
本文通过混合电缆驱动机器人（HCDRS）中的扭矩优化介绍了冗余分辨率和干扰拒绝。首先，我们为非线性全身系统建模和模型还原启动冗余HCDR。基于减少的动态模型，提出了两种新方法来解决冗余分辨率问题：针对驱动接头（TOAJ）（TOAJ）的联合空间扭矩优化和针对驱动和未启动的关节（TOAUJ）优化的联合空间扭矩优化，并且可以将其扩展到其他HCDRS。与现有方法相比，本文为HCDR提供了第一个解决方案（基于TOAUJ的方法），该解决方案可以解决冗余分辨率问题以及干扰拒绝。此外，本文开发了针对TOAJ和TOAUJ实施的详细算法。一个简单而有效的控制器设计用于生成的数据分析和验证。进行了案例研究以评估TOAJ和TOAUJ的性能，结果表明上述方法的有效性。
This paper presents redundancy resolution and disturbance rejection via torque optimization in Hybrid Cable-Driven Robots (HCDRs). To begin with, we initiate a redundant HCDR for nonlinear whole-body system modeling and model reduction. Based on the reduced dynamic model, two new methods are proposed to solve the redundancy resolution problem: joint-space torque optimization for actuated joints (TOAJ) and joint-space torque optimization for actuated and unactuated joints (TOAUJ), and they can be extended to other HCDRs. Compared to the existing approaches, this paper provides the first solution (TOAUJ-based method) for HCDRs that can solve the redundancy resolution problem as well as disturbance rejection. Additionally, this paper develops detailed algorithms targeting TOAJ and TOAUJ implementation. A simple yet effective controller is designed for generated data analysis and validation. Case studies are conducted to evaluate the performance of TOAJ and TOAUJ, and the results suggest the effectiveness of the aforementioned approaches.
