| Wire Driven Parallel Robot(Wire Driven Parallel Robot-WDPR) is a new type of robot to achieve end actuator positioning, which uses the flexible cable as the driving element in the working space. Four wire driven parallel robot is mainly used in the camera system of large competition venue, such as the football field, to conduct the trajectory planning and positioning control of the camera, so that the camera can achieve a full range of motion in the three-dimensional space, improving the shoot range and performance. The robot control system is a complicated system of highly nonlinear, multi variable coupled, time-varying. In order to achieve the high control quality, this paper chooses a kind of intelligent control method with high reliability and strong robustness, adopts the fuzzy sliding mode controller to realize the control requirements. The main contents of this paper are as follows:(1) It uses the matrix method to conduct the kinematic description of the four wire driven camera system. According to the trajectory of the end actuator, it solves the inverse kinematics problem of calculating the flexible cable length. Then the experimental conclusions are obtained by analyzing and comparing the MATLAB simulation curve.(2) It analyzes several dynamic analysis methods, to construct the dynamic model, and the corresponding Lagrange equation is calculated. Considering the uncertainty of cable force, the contrast results of different cable force optimization schemes are obtained by the simulation experiment. After a series of simulation experiments, the force of the actuator and flexible cable in the four wire driven camera system is obtained.(3) The system adopts the sliding mode variable structure control to track the trajectory of the actuator. Considering the chattering problem, it puts forward the fuzzy sliding mode controller. The MATLAB simulation results show that, the trajectory tracking error of the moving platform in the camera system meets the accuracy requirements. |
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