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Dynamic modeling and trajectory tracking control method of segmented linkage cable-driven hyper-redundant robot

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Abstract

The dynamics modeling and trajectory optimization of a segmented linkage cable-driven hyper-redundant robot (SL-CDHRR) become more challenging, since there are multiple couplings between the active cables, passive cables, joints and end-effector. To deal with these problems, this paper proposes a dynamic modeling and trajectory tracking control methods for such type of CDHRR, i.e., SL-CDHRR. First, the multi-coupling kinematics equation (i.e., cable-joint-end) of the hyper-redundant robot is derived. Then, according to the transmission characteristics of the hybrid active/passive segmented linkage, the dynamic equation of series–parallel coupling is derived. It consists of parallel-active dynamics and series-passive dynamics. Furthermore, using the tension of active cables and the pose of the end-effector as optimization indicators, a trajectory tracking framework was constructed by the combination of dynamic feedforward control and PD control. The multi-objective particle swarm optimization method is used to achieve the simultaneous optimization of the energy indicator and control accuracy indicator during the trajectory tracking process. Finally, a MATLAB/SimMechanics co-simulation system is built, and the proposed methods are verified by the built co-simulation system.

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Funding

This work was supported by the National Key R&D Program of China (Grant No. 2018YFB1304600), Guangdong Special Support Program (Grant No. 2017TX04X0071), the Shenzhen Municipal Basic Research Project for Natural Science Foundation (Grant Nos. JCYJ20190806143408992 and JCYJ20180507183610564), Guangdong Basic and Applied Basic Research Foundation (Grant No. 2019A1515110680) and China Postdoctoral Science Foundation (Grant No. 2019M651274).

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Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, China

    Jianqing Peng, Wenfu Xu, Taiwei Yang & Zhonghua Hu

  2. School of Intelligent Systems Engineering, Sun Yat-sen University (Shenzhen), Shenzhen, 518055, China

    Jianqing Peng

  3. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong

    Jianqing Peng

  4. Department of Automation, Tsinghua University, Beijing, 100084, China

    Bin Liang

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  1. Jianqing Peng
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  2. Wenfu Xu
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Correspondence to Wenfu Xu.

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Peng, J., Xu, W., Yang, T. et al. Dynamic modeling and trajectory tracking control method of segmented linkage cable-driven hyper-redundant robot. Nonlinear Dyn 101, 233–253 (2020). https://doi.org/10.1007/s11071-020-05764-7

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