提出新算法提升缆索机器人在极限工况下的张力分布稳定性。
X-ACTA: eXtended Analytic Center Tension distribution Algorithm for fixed and mobile cable-driven-parallel-robot
- 基于解析中心法扩展，实现非线性约束下的可微张力分配。
- 张力连续可微，实时收敛快，且力矩误差极小。
- 适合高动态或断缆场景，对控制精度要求高的研究者参考。
在主动缆索驱动并联机器人（CDPR）超出其力矩可行工作空间（WFW）的场景下，如剧烈机动或发生缆索断裂时，仍需合理分配缆索张力以维持运行能力。尽管张力求解是经典问题，但现有方法多局限于WFW内。本文提出一种扩展的解析中心张力分配算法，可在超出WFW区域保持张力分布的连续性与可微性，并支持非线性约束。该方法实现快速实时收敛至唯一解，且相比其他松弛型方法，将力矩误差限制在接近可忽略的WFW边缘区域。通过帕累托支配分析验证，其在平滑性与力矩误差方面优于当前最优方法。数值实验进一步证明了该方法的有效性。
原文摘要 · Abstract (English)
Steering Cable-Driven Parallel Robots (CDPRs) beyond their Wrench-Feasible Workspace (WFW) augments their capabilities in challenging scenarios such as during aggressive maneuvers or following a cable failure. In this context, although the determination of cable tensions is a well-studied topic, only a few approaches address these scenarios. Therefore, this paper introduces an extended version of the Analytic Center method as a criterion for selecting cable tensions outside the WFW while maintaining differentiability and including non-linear constraints. Notably, the proposed method maintains continuous and differentiable tension profiles, ensures fast real-time convergence to a unique solution, and, in contrast to other slack-based formulations, relegates wrench errors to a negligible area of the WFW. Its superiority in terms of smoothness and wrench error is confirmed via Pareto dominance with respect to the leading state-of-the-art method. Lastly, the effectiveness of the method is demonstrated through numerical experiments.
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