高速绳牵引摄像机器人的运动稳定控制

doi:10.3969/j.issn.1001-2400.2016.05.012

Abstract

Abstract:

A method for motion stability control is proposed on the problem that it is difficult for the camera robot to achieve the high speed and steady movement. First, the dynamic model is established. Then, the trajectory of the camera robot to the stable tracking of high maneuverability target is planned. And, high order polynomial interpolation is performed to improve the stability of the start and stop motion for the camera platform. Furthermore, a hybrid controller based on the PD feed forward controller and disturbance observer is designed in order to achieve stable motion. Finally, the rapid turning motion is discussed by numerical simulation, and the validity of the proposed method is verified.

Key words: camera robots, dynamics, trajectory planning, maneuver tracking, stability

WEI Huiling;QIU Yuanying;SHENG Ying. Motion stable control for cable-driven parallel camera robots with high speeds[J].Journal of Xidian University, 2016, 43(5): 63-69+104.

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Motion stable control for cable-driven parallel camera robots with high speeds

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