期刊
ROBOTICA
卷 37, 期 10, 页码 1695-1709出版社
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574719000201
关键词
Cable-driven parallel camera robot; Pseudo-drag; Cable tension optimization; Hybrid position; tension control; Stability analysis
类别
资金
- National Natural Science Foundation of China [51175397]
This paper presents a control strategy for solving the cable pseudo-drag problem of cable-driven parallel camera robots at high speeds. The control strategy belongs to a hybrid position/tension control method based on cable tension optimization. The cable catenary model and cable pseudo-drag problem are considered firstly. Then, the dynamic model of the cable-driven parallel camera robot is established. The cable tension optimization is proposed. And then a control strategy is put forward and its stability is proved. Simulation results of a four-cable camera robot are presented and discussed.
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