刚度
张力(地质)
运动学
控制理论(社会学)
静力学
操纵器(设备)
并联机械手
计算机科学
结构工程
级联
工程类
控制(管理)
机器人
物理
人工智能
经典力学
力矩(物理)
化学工程
作者
Luyang Zhang,Yuming Guo,Mu Zhang,Lei Yan,Zixuan Li,Mingwang Gao
出处
期刊:IEEE-ASME Transactions on Mechatronics
[Institute of Electrical and Electronics Engineers]
日期:2024-01-01
卷期号:: 1-9
标识
DOI:10.1109/tmech.2023.3289871
摘要
In order to realize the flexible capture of noncooperative targets, a variable-stiffness planning method considering both the overall configuration and cable tension for a hyper-redundant manipulator is proposed in this article. First, combining its kinematics and statics, an analytical stiffness model of the hyper-redundant manipulator is developed to evaluate its stiffness. The overall configuration and cable tension of the hyper-redundant manipulator are both identified as main factors that affect the stiffness. Then, a concept of configuration-stiffness mesh and tension-stiffness mesh is proposed to characterize the stiffness trend which can be optimized by active control points. On one hand, the gradient projection method is used to change the overall configuration of the hyper-redundant manipulator to optimize its stiffness. On the other hand, the cascade proportional integral differential control law is used to change the cable tension of the hyper-redundant manipulator to optimize its stiffness. Finally, simulations and experiments are carried out to validate the analytical stiffness model and variable-stiffness planning method considering both the overall configuration and cable tension for hyper-redundant manipulators.
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