西安电子科技大学学报（自然科学版）Issue(6)：126-130,5.DOI:10.3969/j.issn.1001-2400.2014.06.021
柔性并联机器人系统的运动规划
Kinematics planning of flexible parallel robot system
摘要
Abstract
Aiming at the problem of the cabin’s dynamic response and positioning accuracy of the Five-hundred-meter Aperture Spherical Telescope caused by the mutation of the cables speed,the kinematics planning method for the flexible parallel robot system is proposed.For accurately controlling the length and speed of cables at the same time,the heuristic strategy of robot joint planning theory is used to produce the cables speed data of discrete points.A hybrid algorithm combining the 3rd and 4th interpolation is proposed to achieve the continuous speed data and the continuous acceleration data between discrete points.The study result shows that the planning data of cables length and cables speed are smooth and that the interpolation accuracy satisfies the need of the Five-hundred-meter Aperture Spherical Telescope. This kinematics planning method can solve the problem of the cabin’s dynamic response and the positioning accuracy caused by the mutation of the cable speed.关键词
大射电望远镜/并联悬索/运动规划/机器人/插值Key words
large radio telescope/parallel cable/kinematics planning/robot/interpolation分类
信息技术与安全科学引用本文复制引用
王文利,曹鸿钧..柔性并联机器人系统的运动规划[J].西安电子科技大学学报（自然科学版）,2014,(6):126-130,5.基金项目
国家自然科学基金资助项目(51175398) （51175398）
深圳市知识创新计划资助项目(JCYJ20130401095947227) （JCYJ20130401095947227）
