一种绳牵引摄像机器人的运动控制策略与稳定性研究

绳牵引摄像机器人具有索单向受力、冗余驱动以及高速机动等特性,因而其稳定性问题的研究与解决是一个难题。现有的研究中,大多没有考虑摄像机器人的高速稳定运动特性及控制方法。为此,提出一种基于末端位置空间PD修正前馈控制规则保证摄像机器人的稳定运行。通过牛顿-欧拉法建立了末端执行器的动力学方程以及驱动系统的动力学模型;在此基础上得到了整个系统的动力学模型;在系统动力学模型的基础上,提出基于末端位置空间PD修正前馈控制规则的绳牵引摄像机器人跟踪控制策略,通过Lyapunov稳定性理论论证了控制策略的稳定性;通过数值算例说明了摄像机器人的稳定跟踪性能,并且验证了控制策略的有效性。

Motion control strategy and stability of a cable-based camera robot

It is very difficult to study and solve the motion stability problem of a cable-based camera robot with one-way cable tension,redundant drive,and high speed maneuvering characteristics.In most of references available,high speed stable motion characteristics and control method of a cable-based camera robot are not adequately considered．For this purpose,a modified PD forward control reguration for its cable length coordinates was presented to ensure its stable motion.Firstly,the dynamic equation  for its end-effector  was established by using Newton-Euler method.The dynamic model of its drive system was also established.And the dynamic model of the whole system was derived.And then,a tracking control strategy for the camera robot was proposed using a modified PD forward controller for its cable length coordinates based on the whole system’s dynamic model.Further more,the stability of the control strategy was proved with Lyapunov stability theory.Finally,numerical examples showed that the camera robot has a stable tracking performance; the effectiveness of the proposed control strategy is verified.