论文标题
强大的2 1/2d视觉伺服伺服驱动的平行机器人，因此轨迹跟踪
Robust 2 1/2D Visual Servoing of a Cable-Driven Parallel Robot Thanks to Trajectory Tracking
论文作者
论文摘要
电缆驱动的并行机器人（CDPR）是一种具有电缆而不是刚性链接的平行机器人。尽管对系统中的错误和其他扰动进行了建模，但对基于视力的控制也可以达到良好的最终精度。但是，与最终精度不同，该目标的轨迹可能会受到系统扰动的影响。本文提出了使用轨迹跟踪来改善2 1/2 d视觉宣传CDPR的鲁棒性。进行了Lyapunov稳定性分析，因此定义了一个新的工作区，名为“控制稳定性工作区”。该工作空间定义了一个移动平台构成的集合，在稳定的同时，机器人能够执行其任务。在实验验证中清楚地显示了鲁棒性的改善。
Cable-Driven Parallel Robots (CDPRs) are a kind of parallel robots that have cables instead of rigid links. Implementing vision-based control on CDPRs leads to a good final accuracy despite modeling errors and other perturbations in the system. However, unlike final accuracy, the trajectory to the goal can be affected by the perturbations in the system. This paper proposes the use of trajectory tracking to improve the robustness of 2 1/2 D visual servoing control of CDPRs. Lyapunov stability analysis is performed and, as a result, a novel workspace, named control stability workspace, is defined. This workspace defines the set of moving-platform poses where the robot is able to execute its task while being stable. The improvement of robustness is clearly shown in experimental validation.
