| ZHAO Xiangtang (赵祥堂),ZHAO Zhigang,SU Cheng,MENG Jiadong,WANG Baoxi.[J].高技术通讯(英文),2024,30(3):252~262 |
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| Trajectory compensation for multi-robot coordinated lifting system considering elastic catenary of the rope |
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| DOI：10. 3772 / j. issn. 1006-6748. 2024. 03. 004 |
| 中文关键词: |
| 英文关键词: multi-robot lifting system, deformation of flexible rope, elastic catenary model,compensation principle of position and posture, trajectory compensation |
| 基金项目: |
| Author Name | Affiliation | | ZHAO Xiangtang (赵祥堂) | (School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, P. R. China) | | ZHAO Zhigang | | | SU Cheng | | | MENG Jiadong | | | WANG Baoxi | |
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| 中文摘要: |
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| 英文摘要: |
| The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible
coupling. The deformation of the flexible rope causes errors in the movement trajectory of the lifting
system. Based on the kinematic and dynamic analysis of the lifting system, the elastic catenary mod-
el considering the elasticity and mass of the flexible rope is established, and the effect of the deform-
ation of the flexible rope on the position and posture of the suspended object is analyzed. According
to the deformation of flexible rope, a real-time trajectory compensation method is proposed based on
the compensation principle of position and posture. Under the lifting task of the low-speed move-
ment, this is compared with that of the system which neglects the deformation of the flexible rope.
The trajectoy of the lifting system considering the deformation of flexible rope. The results show that
the mass and elasticity of the flexible rope can not be neglected. Meanwhile, the proposed trajectory
compensation method can improve the movement accuracy of the lifting system, which verifies the ef-
fectiveness of this compensation method. The research results provide the basis for trajectory plan-
ning and coordinated control of the lifting system. |
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