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浙江大学学报(工学版)
J4  2013, Vol. 47 Issue (2): 345-352    DOI: 10.3785/j.issn.1008-973X.2013.02.024
电气工程、自动化技术     
绳驱动拟人臂机器人回零算法分析
陈伟海1, 陈泉柱1, 刘荣2, 张建斌2, 崔翔1
1. 北京航空航天大学 自动化科学与电气工程学院,北京 100191;
2. 北京航空航天大学 机械工程及自动化学院,北京 100191
Homing algorithm analysis of a cable-driven
humanoid-arm manipulator
CHEN Wei-hai1, CHEN Quan-zhu1, LIU Rong2, ZHANG Jian-bing2, CUI Xiang1
1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;
2. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191,China
 全文: PDF 
摘要：

为解决绳驱动拟人臂机器人在运动过程中产生的误差累积问题以及确定断电后重启的位姿，介绍一种不依靠外部设备的回零方法，即仅依靠自身检测的传感信息和相应的算法实现自回零.针对三自由度的并联球关节的自动回零问题，结合绳驱动并联机器人的结构特点，系统采用增量式编码器与限位开关相结合作为回零检测装置|在此基础上，对机构的运动耦合性进行了分析，提出分三步实现机器人动平台的原点定位与自动回零方法，并通过解耦控制，实现每步回零运动只需主动控制一条驱动绳索|仿真与实验验证这种三步自动回零算法的可行性，能够灵活准确的使机器人回到初始状态.
关键词： 绳驱动;  并联机器人;  耦合;  回零    
Abstract:

In order to solve the problem of error accumulation in motion control and determine the initial posture when restarting, this paper addresses a homing method without using external device, which is, completing self-homing work only depending on self-detected sensor information and the corresponding homing algorithm. As for the self-homing issue of cable-driven parallel robot, combining with the structural characteristics of the cable-driven parallel robot, incremental encoders together with limit switches are chosen as the homing detecting devices. On that basis, kinematics coupling features of the mechanism is analyzed and a novel homing algorithm, that is, an integral three-step method is proposed for origin positioning and automatic homing. Additionally, only one driven cable needs to be actively controlled in each step homing motion by decoupling control. Simulations and experiments have been performed to demonstrate the effectiveness of the homing algorithm, that is, the manipulator can return back to the initial posture dexterously and accurately.
Key words: Cable-driven    parallel manipulator    coupling    homing
出版日期: 2013-03-14
:  TP 242  
基金资助:

国家自然科学基金资助项目(50875011、50975017);机械系统与振动国家重点实验室开放课题资助项目(MSV-2012-12).
作者简介: 陈伟海（1955—)，男，教授.从事机器人智能检测技术、仿生机器人技术等方面研究.E-mail: whchenbuaa@126.com
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引用本文:

陈伟海, 陈泉柱, 刘荣, 张建斌, 崔翔. 绳驱动拟人臂机器人回零算法分析[J]. J4, 2013, 47(2): 345-352.

CHEN Wei-hai, CHEN Quan-zhu, LIU Rong, ZHANG Jian-bing, CUI Xiang. Homing algorithm analysis of a cable-driven
humanoid-arm manipulator. J4, 2013, 47(2): 345-352.

链接本文:

http://www.zjujournals.com/xueshu/eng/CN/10.3785/j.issn.1008-973X.2013.02.024    或    http://www.zjujournals.com/xueshu/eng/CN/Y2013/V47/I2/345

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