上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

广义负载模拟器的广义力误差最小轨迹规划

王宣银，吴乐彬   

  1. (浙江大学 流体传动及控制国家重点实验室， 杭州 310027)
  • 收稿日期:2009-07-02 修回日期:1900-01-01 出版日期:2010-07-28 发布日期:2010-07-28

Trajectory Planning with Least Wrench Error for a Generalized Load Simulator

WANG Xuanyin，WU Lebin   

  1. (State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China)
  • Received:2009-07-02 Revised:1900-01-01 Online:2010-07-28 Published:2010-07-28

摘要： 研究了基于结构化空间刚度的广义负载模拟器的轨迹规划问题，建立了主从式双并联广义负载模拟系统的数学模型.以广义力为优化目标，提出一种广义力误差最小的轨迹规划方法，并将轨迹分解为静态最优轨迹和动态补偿轨迹.最优轨迹中根据虎克定理给出广义力到位姿的映射关系，补偿轨迹在最优轨迹离散点附近线性化动力学方程，用于抵消惯性载荷的影响.仿真结果表明，该方法可用于空间加载轨迹的高精度实时生成，其广义力误差小于0.9‰，对实际工程具有重要意义.

关键词: 负载模拟器, 并联六自由度, 牛顿迭代法

Abstract: This paper studied on the trajectory planning for a generalized load simulator (GLS), which works with a structured spatial compliant mechanism. Math model of masterslave dualparallel GLS system was established. An optimal trajectory planning method was proposed for the purpose of least wrench error. This method decomposes the optimal trajectory into static optimal trajectory and dynamic complementary trajectory. The former determines the mapping relation from wrench to twist via Hook’s law. The latter, which is used to eliminate the influence of iterative load, is computed by the linearized dynamic equation of the former one. The results of simulation show that this method is capable of generating load trajectory with high precision, and the wrench error is limited within 0.9‰. This work is of great importance to practical engineering.

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