计算机工程与科学2017，Vol.39Issue(10)：1915-1922,8.DOI:10.3969/j.issn.1007-130X.2017.10.021
紧耦合多机器人协调吊运系统建模和稳定性分析
Modeling and stability analysis of close-coupling multi-robot collaboratively towing system
摘要
Abstract
We analyze the dynamic stability of close-coupling multi-robots coordinatively towing systems,and based on the change rate of cables tension and the ratio of cable tension change rates,we propose a comprehensive evaluation method to judge the dynamic stability of towing systems.Firstly,we establish the kinematic model and dynamic model of the coupling towing system.Subsequently,we analyze the dynamic stability of the system,which is better when the change rate of all cables tension is smaller and the ratios among every change rate of cables tension are close to 1.Finally,the kinematics and the dynamic stability of one towing system are simulated,and the results verify the efficiency of the method.The results can prove the dynamic stability of the towing system,and lay a foundation for further analysis on the effective workspace and the optimal trajectory planning of the towing system.关键词
紧耦合/吊运系统/多机器人系统/稳定性分析Key words
close-coupling/towing system/multi-robot system/stability analysis分类
信息技术与安全科学引用本文复制引用
王砚麟,赵志刚,石广田,李劲松..紧耦合多机器人协调吊运系统建模和稳定性分析[J].计算机工程与科学,2017,39(10):1915-1922,8.基金项目
国家自然科学基金(51265021) （51265021）
高等学校博士学科点专项科研基金新教师类资助课题(20126204120004) （20126204120004）
教育部科学技术研究重点项目(212184) （212184）
甘肃省自然科学基金(1212RJZA067) （1212RJZA067）
