机械科学与技术2026，Vol.45Issue(2)：225-235,11.DOI:10.13433/j.cnki.1003-8728.20240006
一种平面四索并联机器人的力/位混合控制研究
Research on a Force/Position Hybrid Control of Planar 4 Cable-driven Parallel Robot
摘要
Abstract
This study is aiming at the unstable problem that due to shaking of the cable and end effector during the start-stop,direction change,acceleration and deceleration operation of the cable-driven parallel robot.The S-type velocity curve planning method is used to plan the robot's trajectory,and the minimum variance optimization method of cable force is used to optimize the cable tension.Based on the kinematic and dynamic model of the robot,a force/position hybrid control system composed of cable length PD feed-forward closed-loop controller and active tension open-loop controller is designed,and the on-site trial and error method is used to adjust control parameters.The simulation analysis and experimental research on the control systemare conducted,the results show that the force/position hybrid control strategy designed on the basis of S-type velocity curve planning and cable force minimum variance optimization has good control effect,effectively improving the trajectory tracking performance and operational stability of the robot.关键词
柔索牵引并联机器人/S型速度曲线/索力最小方差/力/位混合控制Key words
cable-driven parallel robot/S-type velocity curve/cable force minimum variance/force/position hybrid control分类
矿业与冶金引用本文复制引用
洪振宇,孙芳良,林健,高轩,张志旭..一种平面四索并联机器人的力/位混合控制研究[J].机械科学与技术,2026,45(2):225-235,11.基金项目
中央高校基本科研业务费专项资金项目(3122020042,3122022047)与中国民航大学研究生科研创新项目(2023YJSKC01002) （3122020042,3122022047）
