|本期目录/Table of Contents|

[1]余意,易建强,李成栋,等.绳索牵引自动水平调节机器人综合控制策略[J].电机与控制学报,2009,(06):891-896.
 YU Yi,YI Jian-qiang,LI Cheng-dong,et al.Synthetic control strategy for a cable-driven auto-leveling robot[J].,2009,(06):891-896.
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绳索牵引自动水平调节机器人综合控制策略(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2009年06
页码:
891-896
栏目:
出版日期:
2009-12-25

文章信息/Info

Title:
Synthetic control strategy for a cable-driven auto-leveling robot
作者:
余意; 易建强; 李成栋; 赵冬斌; 张建宏;
中国科学院自动化研究所;
Author(s):
YU Yi; YI Jian-qiang; LI Cheng-dong; ZHAO Dong-bin; ZHANG Jian-hong
Institute of Automation; Chinese Academy of Sciences; Beijing 100190; China
关键词:
机器人 绳索牵引 水平调节 牵引力调节
Keywords:
robot cable-driven leveling adjustment pulling force adjustment
分类号:
TP242.6
DOI:
-
文献标志码:
A
摘要:
针对贵重精密载荷在装卸过程中需要维持其对接面水平及受力均衡的需求,研发基于绳索牵引的自动水平调节机器人系统,提出一种由绳索牵引力均衡分配策略和载荷对接面水平倾角调节策略构成的综合控制方案,以确保在绳索牵引力均衡分配的前提下实现载荷对接面水平调节。受力均衡分配策略通过调整绳索长度来改变绳索牵引力的分布,载荷对接面水平倾角调节由模糊神经控制器实现,该控制器的参数由基于LSE方法和BP算法的混合算法训练得到。实验结果表明,综合控制方案能够实现载荷的水平调节及绳索牵引力均衡分配,且能满足实际应用的精度需求。
Abstract:
Aiming at the level-adjusting and force-balance problems of expensive and precise payloads when loading and unloading,a cable-driven aut-leveling parallel robot was developed.A synthetic strategy,which was composed mainly of force-tuning balance strategy and bottom surface leveling strategy,was proposed to realize the leveling adjustment under the premise that balance of the pulling forces was firstly satisfied.Force-tuning balance strategy was used to change the distribution of pulling forces through alter...

参考文献/References:

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备注/Memo

备注/Memo:
国家“八六三”计划资助项目(2007AA04Z239)
更新日期/Last Update: 2010-05-28