A Smoothing Motion Method for High-Speed Cable-Driven Parallel Camera Robots

摘要

This study discusses trajectory planning based on a higher-order polynomial interpolation and the smoothing motion control method of high speed cabledriven parallel camera robots. High speed and high manoeuverability of cable-driven parallel robots make it difficult to achieve stable flexible starting and fast reversing motion. In the existing literature, smoothing motion methods for high-speed cable-driven parallel robots are not adequately considered. For this purpose, first, the transition trajectories of start-stop and turning of the cable-driven parallel robots are planned based on a higher order polynomial interpolation. Further, on the basis of the system dynamic model and the PD feed-forward controller, a disturbance observer is applied in order to inhibit the disturbances from trajectory mutation. Then the stability of the hybrid control strategy is proved. Finally, the main factors which influence the smoothing motion are discussed using numerical simulations and experimental tests. The results indicate that the smoothing motion method consisting of higher-order polynomial interpolation and the disturbance observer are both effective and feasible for engineering applications.