首次高效计算并联机器人逆动力学二阶导数，支持弹性驱动轨迹控制。
A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of parallel Kinematic Manipulators
- 基于李群框架递归求解，复用串行机器人算法
- 6自由度平台与平面机构验证，计算效率显著提升
- 适合研究并联机器人高精度控制的学者
串联弹性执行器（SEA）已用于串行机械臂。其模型化轨迹跟踪控制需逆动力学解的二阶时间导数，已有相应算法。然而，配备SEA的并联运动学机械臂（PKM）的轨迹控制尚未开展。关键难点在于高效计算逆动力学解的二阶导数，该问题此前未见文献报道，本文首次解决。利用PKM的特殊拓扑结构，复用串行机器人逆动力学的递归算法，并在李群框架内推导全部关系。数值结果针对6自由度Gough-Stewart平台（作为外骨骼一部分）及平面型PKM在平坦性控制方案下的应用进行验证。
原文摘要 · Abstract (English)
Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics solution, for which algorithms were proposed. Trajectory control of parallel kinematics manipulators (PKM) equipped with SEAs has not yet been pursued. Key element for this is the computationally efficient evaluation of the second time derivative of the inverse dynamics solution. This has not been presented in the literature, and is addressed in the present paper for the first time. The special topology of PKM is exploited reusing the recursive algorithms for evaluating the inverse dynamics of serial robots. A Lie group formulation is used and all relations are derived within this framework. Numerical results are presented for a 6-DOF Gough-Stewart platform (as part of an exoskeleton), and for a planar PKM when a flatness-based control scheme is applied.
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