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Volume 38 Issue 12
Dec.  2012
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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)
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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.

     

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