用优化算法抑制悬挂带振动，让艺术装置更灵敏流畅。
Vibration Damping in Underactuated Cable-suspended Artwork -- Flying Belt Motion Control
- 建模+凸优化输入整形，精准抑制动态振动
- 实测显示运动更快更稳，互动响应显著提升
- 适合机器人艺术、大型动态装置开发者参考
本文对拉斐尔·洛萨诺-赫默的互动机器人艺术装置《标准与双重标准》进行了全面改造。装置由悬挂在天花板上的多条皮带组成，通过步进电机驱动，并由基于视觉的追踪系统实时跟随观众动作。原系统受振荡动力学限制，出现扭转和摆动振动，影响旋转速度与交互响应。改造中升级了硬件并改进运动控制算法，建立了飞行皮带系统的精确数学模型，为先进控制设计提供基础。采用转化为凸优化问题的输入整形方法，有效抑制振动，实现更平稳快速的皮带运动。实验结果表明系统性能和观众互动体验均显著改善。本工作展示了机器人、控制工程与互动艺术的融合，为大规模动态装置的实时运动控制与振动抑制提供了新方案。
原文摘要 · Abstract (English)
This paper presents a comprehensive refurbishment of the interactive robotic art installation Standards and Double Standards by Rafael Lozano-Hemmer. The installation features an array of belts suspended from the ceiling, each actuated by stepper motors and dynamically oriented by a vision-based tracking system that follows the movements of exhibition visitors. The original system was limited by oscillatory dynamics, resulting in torsional and pendulum-like vibrations that constrained rotational speed and reduced interactive responsiveness. To address these challenges, the refurbishment involved significant upgrades to both hardware and motion control algorithms. A detailed mathematical model of the flying belt system was developed to accurately capture its dynamic behavior, providing a foundation for advanced control design. An input shaping method, formulated as a convex optimization problem, was implemented to effectively suppress vibrations, enabling smoother and faster belt movements. Experimental results demonstrate substantial improvements in system performance and audience interaction. This work exemplifies the integration of robotics, control engineering, and interactive art, offering new solutions to technical challenges in real-time motion control and vibration damping for large-scale kinetic installations.
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