Research On Key Problems Of The 3D Cable Robot Position And Pose Control

With the development of science and technology, robotics emerged and continued to mature, a large number of parallel robot technology and serial robot technology are applied into industrial production and people’s daily lives. However, in some special occasion, just take advantage of existing robot technology has been unable to meet their application needs. Therefore, cable driven parallel robot technology is introduced. Cable driven parallel robot technology as a new discipline, integrates some advantages and features of parallel robot technology and serial robot technology, furthermore, gradually applied to many areas of modern life. In this paper, we take the most widely used cable driven imaging retractor robot for example, concentrate on key Problems of the Position and Pose Control of 3D Cable Robot in a theoretical analysis way, and use of advanced PID control algorithm to Improve control precision, ensure robot system is able to take clear image.First of all, according to the system structure and application needs of 3D cable driven robot, we carried out theoretical analysis in a macro vision, and established common theoretical model then verify the correctness of the model by numerical simulation, thus, laid a theoretical foundation for hardware selection and position and pose control.Secondly, according to control requirements of 3D cable driven robot, we analyzed the hardware selection, thus guaranteed to meet 3D cable driven robot control requirements in terms of hardware.Finally, in order to make 3D cable driven robot can take clear image instead of suffering the influence of various disturbing factors, we took the end effector for the study, and used the improved fuzzy PID control algorithm to simulation and optimization so that the model meet the accuracy requirements.In this paper, we studied the key problems of the position and pose control of 3D cable robot, including the corresponding theoretical analysis, selection of related devices, and optimize the accuracy of the end effector. We verified the result through the corresponding numerical simulation to meet the practical application demand.