西安电子科技大学学报（自然科学版）2016，Vol.43Issue(5)：63-69,104,8.DOI:10.3969/j.issn.1001-2400.2016.05.012
高速绳牵引摄像机器人的运动稳定控制
Motion stable control for cable-driven parallel camera robots with high speeds
摘要
Abstract
A method for motion stability control is proposed on the problem that it is difficult for the camera robot to achieve the high speed and steady movement . First , the dynamic model is established . Then , the trajectory of the camera robot to the stable tracking of high maneuverability target is planned . And , high order polynomial interpolation is performed to improve the stability of the start and stop motion for the camera platform . Furthermore , a hybrid controller based on the PD feed forward controller and disturbance observer is designed in order to achieve stable motion . Finally , the rapid turning motion is discussed by numerical simulation , and the validity of the proposed method is verified .关键词
摄像机器人/动力学/轨迹规划/机动跟踪/稳定性Key words
camera robots/dynamics/trajectory planning/maneuver tracking/stability分类
信息技术与安全科学引用本文复制引用
韦慧玲,仇原鹰,盛英..高速绳牵引摄像机器人的运动稳定控制[J].西安电子科技大学学报（自然科学版）,2016,43(5):63-69,104,8.基金项目
国家自然科学基金资助项目 （）
