柔性并联机器人系统的运动规划

doi:10.3969/j.issn.1001-2400.2014.06.021

Abstract

Abstract:

Aiming at the problem of the cabin's dynamic response and positioning accuracy of the Five-hundred-meter Aperture Spherical Telescope caused by the mutation of the cables speed, the kinematics planning method for the flexible parallel robot system is proposed. For accurately controlling the length and speed of cables at the same time, the heuristic strategy of robot joint planning theory is used to produce the cables speed data of discrete points. A hybrid algorithm combining the 3^rd and 4^th interpolation is proposed to achieve the continuous speed data and the continuous acceleration data between discrete points.The study result shows that the planning data of cables length and cables speed are smooth and that the interpolation accuracy satisfies the need of the Five-hundred-meter Aperture Spherical Telescope. This kinematics planning method can solve the problem of the cabin's dynamic response and the positioning accuracy caused by the mutation of the cable speed.

Key words: large radio telescope, parallel cable, kinematics planning, robot, interpolation

CLC Number:

TP242.3

WANG Wenli;CAO Hongjun. Kinematics planning of flexible parallel robot system[J].J4, 2014, 41(6): 126-130.

References

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Kinematics planning of flexible parallel robot system

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