Advanced Search
Volume 38 Issue 12
Dec.  2012
Turn off MathJax
Article Contents
Journal of Beijing University of Aeronautics and Astronautics  > 2012  >  38(12): 1671-1675.
You Xianqiang, Chen Weihai, Cui Xiang, et al. Dynamic control of a cable-driven humanoid-shoulder joint based on backstepping technique[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(12): 1671-1675. (in Chinese)
Citation: You Xianqiang, Chen Weihai, Cui Xiang, et al. Dynamic control of a cable-driven humanoid-shoulder joint based on backstepping technique[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(12): 1671-1675. (in Chinese)
shu

Dynamic control of a cable-driven humanoid-shoulder joint based on backstepping technique

  • School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 29 Aug 2011
  • Publish Date: 30 Dec 2012
    Abstract
  • Aiming at the problems that cable-driven parallel manipulator is difficult to create model and control, the dynamic model of the humanoid-shoulder joint was built by using Lagrange dynamics method so as to obtain the standard form of dynamic equation. Taking into account the redundant actuation and single-direction force for the cable, tension distribution algorithm based on the minimum pre-tightening force was proposed to calculate driving force of each cable. Based on backstepping technique, the control law of the system model was designed for the robot trajectory tracking control problem. The results of simulation show backstepping-based control method is superior in convergence speed, and the driving force of each cable is more than the required minimum tension to keep the cable tensional.

     

    • FullText(HTML)
  • loading
    • References(12)
  • [1]
    钱锡康.BUAA-RR七自由度机器人机械结构设计[J].北京航空航天大学学报,1998,24(3):354-357 Qian Xikang.Structure design for 7-DOF BUAA-RR manipulator [J].Journal of Beijing University of Aeronautics and Astronautics,1998,24(3):354-357 (in Chinese)
    [2]
    Jeong J W,Kim S H,Kwak Y K.Kinematics and workspace analysis of a parallel wire mechanism for measuring a robot pose [J].Mechanism and Machine Theory,1999,34:825-841
    [3]
    Alp A B,Agrawal S K.Cable suspended robots:design,planning and control //Proceedings of IEEE Conf.on Robotics and Automation.Washington,DC,USA:IEEE,2002:4275-4280
    [4]
    Yang Guilin,Lin Wei,Mustafa S K,et al.Kinematic design of a 7-DOF cable-driven humanoid arm:a solution-in nature approach //Proceedings of the International Conference on Advanced Intelligent Mechatronics.California,USA:IEEE,2005:444-449
    [5]
    陈伟海,陈泉柱,张建斌,等.线驱动拟人臂机器人逆向运动学分析[J].机械工程学报,2007,43(4):12-20 Chen Weihai,Chen Quanzhu,Zhang Jianbin,et al.Inverse kinematic analysis for cable-driven humanoid arm [J].Chinese Journal of Mechanical Engineering,2007,43(4):12-20 (in Chinese)
    [6]
    Elizabeth A B,Ying M,Sunil K A,et al.Dynamics and control of a 4-DOF wearable cable-driven upper arm exoskeleton //Proceedings of the International Conference on Robots and Automation.Kobe,Japan:IEEE,2009:2300-2305
    [7]
    陈泉柱,陈伟海,刘荣,等.具有关节角反馈的绳驱动拟人臂机器人机构设计与张力分析[J].机械工程学报,2010,46(13):83-90 Chen Quanzhu,Chen Weihai,Liu Rong,et al.Mechanism design and tension analysis of a cable-driven humanoid-arm manipulator with joint angle feedback [J].Chinese Journal of Mechanical Engineering,2010,46(13):83-90 (in Chinese)
    [8]
    Geng Z,Haynes L S,Lee J D,et al.On the dynamic model and kinematic analysis of a class of stewart platforms [J].Robotics and Autonomous Systems,1992,9(4):237-254
    [9]
    Liu K,Lewis F,Lebret G,et al.The singularities and dynamics of a stewart platform manipulator [J].Journal of Intelligent and Robotic Systems,1993,8(3):287-308
    [10]
    Lebret G,Liu K,Lewis F.Dynamic analysis and control of a stewart platform manipulator [J].Journal of Robotic Systems,1993,10(5):629-655
    [11]
    理查德·莫雷,李泽湘,夏恩卡·萨斯特里.机器人操作的数学导论[M].北京:机械工业出版社,1998 Murray M,Li Zexiang,Sastry S.A mathematical introduction to robotic manipulator [M].Beijing:Mechanical Industry Press,1998 (in Chinese)
    [12]
    Buhler M,Koditschek D E.A prelude to juggling .Conference Presentation:26th IEEE Conference on Decision and Control,Los Angeles,California,USA: ,1987
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views(1607) PDF downloads(591) Cited by()
    Proportional views
    Related

    Copyright © Journal of Beijing University of Aeronautics and Astronautics

    Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn

    Supported by: Beijing Renhe Information Technology Co., Ltd.    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return