通过解析中心法动态调节缆绳机器人刚度，兼顾张力分配与精度速度需求。
Stiffness-based Analytic Centre Method for Cable-Driven Parallel Robots
- 基于解析中心法优化刚度与张力分布
- 实现任务执行中刚度的实时自适应调整
- 适合对动态精度和响应速度要求高的工业场景
当前机器人需兼具快速与高精度特性。本文提出一种新型方法，在同步解决缆绳驱动并联机器人（CDPRs）张力分布问题的同时，调节其刚度。该方法基于解析中心法，通过加权障碍函数自然实现刚度自适应。机器人在任务执行过程中具备主动调整刚度的能力，从而有效满足快速与高精度需求。仿真结果表明，该方法相比现有方案具有更优性能。
原文摘要 · Abstract (English)
Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simultaneously addressing the tension distribution problem. In particular, the approach relies on the Analytic-Centre method. Indeed, weighting the barrier functions makes natural the stiffness adaptation. The intrinsic ability to adjust the stiffness during the execution of the task enables the CDPRs to effectively meet above-mentioned requirements. The capabilities of the method are demonstrated through simulations by comparing it with the existing approach.
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