论文标题
输入形状，用于对电缆驱动的平行机器人的前馈控制
Input-Shaping for Feed-Forward Control of Cable-Driven Parallel Robots
论文作者
论文摘要
本文介绍了输入成型过滤器的使用以及对电缆驱动的平行机器人（CDPRS）的进料控制的结合，同时集成了电缆张力计算以满足沿移动平台的规定轨迹的正面电缆张力。该方法旨在减轻移动平台的振荡动作。因此，对输入信号进行了修改，以使其使其自我cant骨残留振动。 5在移动平台振荡衰减方面，提出的闭环控制方法与塑形输入相结合的有效性在悬浮和非冗余CDPR原型上进行了实验研究。这证实了相对于非形状控制的残余振动减少的改善，而峰值误差的峰值振幅幅度可以实现72％，同时使用输入成形过滤器。
This paper deals with the use of input-shaping filters in conjunction with a feed-forward control of Cable-Driven Parallel Robots (CDPRs), while integrating cable tension calculation to satisfy positive cable tensions along the prescribed trajectory of the moving-platform. This method aims to attenuate the oscillatory motions of the moving-platform. Thus, the input signal is modified to make it self-cancel residual vibrations. 5 The effectiveness, in terms of moving-platform oscillation attenuation, of the proposed closed-loop control method combined with shaping inputs is experimentally studied on a suspended and non-redundant CDPR prototype. This confirms residual vibration reduction improvement with respect to the unshaped control in terms of Peak-to-Peak amplitude of velocity error, which can achieve 72 % while using input-shaping filters.
