Velocity Planning for Astronaut Virtual Training Robot with High-Order Dynamic Constraints

Wang, Lan; Lin, Lingjie; Chang, Ying; Song, Da

doi:10.1017/s0263574719001863

Cited by 6 publications

(4 citation statements)

References 18 publications

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“…where x 1 is the x-direction vector of the local coordinate system, y 1 is the y-direction vector of the local coordinate system, and z 1 is the z-direction vector of the local coordinate system. During astronaut training, HIVMTS use equation (7) to monitor whether there is a risk of interference in the next target pose in real-time. If there is a risk of interference, the control system will maintain the instruction at the previous moment until the interference risk is revoked.…”

Section: Cable Length Calculation Modelmentioning

confidence: 99%

“…They also proposed a velocity planning algorithm based on high-order dynamic constraints to improve the planning speed. 7 In order to solve the problems existing in the cable tension control strategy, the current HIVMTS is more inclined to use the force-position hybrid control strategy. For example, Xue et al used a force position hybrid control strategy in a planar 4-cable virtual microgravity training system, which significantly improved the stability of the system.…”

Section: Introductionmentioning

confidence: 99%

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An all-position type control strategy of the haptic interactive virtual training system based on cable-driven

Xue,

Zhang,

Wang

et al. 2024

Advances in Mechanical Engineering

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The virtual microgravity training system based on cable drive usually uses a force-position hybrid control strategy which has following problems: the force control method is sensitive to load disturbances, variable stiffness characteristics of cables reduce the control accuracy of PID controllers, and the expected tension fluctuations are large. These will affect the control accuracy, and further affect the tactile sensation and training effectiveness of astronauts. For the above problems, an all-position type control strategy is proposed to improve the system control accuracy. This strategy uses a compliant control method. In this method, elastic elements are connected in cables, the conversion model of tension and displacement is established, and the tension control is realized by the displacement control which has characteristics of high control accuracy and strong resistance to load disturbance. The PID controller is replaced by the active disturbance rejection controller. In this controller, the tracking differentiator is used to reduce high frequency noises of the input signal, and the extended state observer is used to estimate and compensate the error caused by the change of the cable stiffness. A tension distribution method is designed to make expected cable tensions approach the average tension to reduce the tension fluctuation. The experimental results show that compared with the force-position hybrid control strategy, the all-position type control strategy reduces the tension error and speed error by about 51% and 33% respectively.

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Section: Cable Length Calculation Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An all-position type control strategy of the haptic interactive virtual training system based on cable-driven

Xue,

Zhang,

Wang

et al. 2024

Advances in Mechanical Engineering

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“…Park et al proposed a small remote-operated tactile device based on a cable-driven robot to realize the synchronous motion of master and slave devices [25]. The team that the author participated in has optimized the structure of cable-driven robots, and tension distribution and speed-planning algorithms of a high-order dynamic were proposed [26,27]. The operational feeling of astronauts during training depends on the motion accuracy of the end effector, and the operational feeling improves with higher motion accuracies [28].…”

Section: Introductionmentioning

confidence: 99%

A New Composite Control Strategy for an Astronaut Virtual Operation Training System Based on Cable-Driven Technology

Xue,

Zhang,

et al. 2023

Actuators

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In recent years, virtual microgravity training technology for astronauts based on cable-driven designs has emerged, and it solves the following problems: high costs, short training times, and low safety of existing equipment. However, this technology does not solve the reduced motion accuracy problem of the operated object due to the elastic deformation of cables, and this problem will reduce the operational experience of astronauts during training. In view of this problem, a cable-driven virtual operation training system for astronauts is designed, and a new composite control strategy based on parallel cables is proposed, which effectively improves motion control accuracy by allocating cable tension and using a tension compliance control method to suppress the influence of cable deformation. In addition, the desired tension of cables is optimized based on the system’s workspace so that the system can achieve more complex virtual microgravity training tasks. Finally, verification via experiments demonstrated that the training system and the new composite control strategy are effective.

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“…To restrict the motion parameters, various acceleration/ deceleration (ACC/DEC) algorithms can be used. Some jerk-limited ACC/DEC algorithms such as the S-shaped method [9][10][11] and the dynamic jerk constraint method 12 have been employed to generate continuous acceleration profile. To simplify the expression and calculation process of polynomial methods, some trigonometric ACC/DEC algorithms are developed such as the Sine-curve methods.…”

Section: Introductionmentioning

confidence: 99%

Velocity planning method for position–velocity–time control based on a modified S-shaped acceleration/deceleration algorithm

Liu

et al. 2022

International Journal of Advanced Robotic Systems

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Position–velocity–time control mode has been wildly used in industrial application. And velocity planning is one of the most important factors to determine the performance of position–velocity–time motion. To generate smooth trajectory while satisfying the kinematic constraints of the devices such as the maximum velocity, acceleration, and jerk, a novel velocity planning method is proposed. Firstly, a modified S-shaped acceleration/deceleration algorithm is designed to restrict the kinematic parameters. Meanwhile, a series of rules are specified to constrain the velocity profile to simplify the velocity planning process. On this basis, the velocity planning method is proposed based on the modified acceleration/deceleration algorithm. For reasonable position–velocity–time command, the given position–velocity–time conditions can be satisfied with smooth velocity profile, where the kinematic parameters can be limited in their allowable ranges. For unreasonable position–velocity–time commands, a series of planning strategies are designed to adjust the given conditions according to the user needs, which is suitable for the real application. The comparative experiments show that the proposed method can realize the velocity planning for position–velocity–time motion with smooth trajectory while restricting the kinematic parameters. The computational load is also tested to satisfy the real-time requirement. Therefore, the proposed velocity planning method has good performance and strong practicability.

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Velocity Planning for Astronaut Virtual Training Robot with High-Order Dynamic Constraints

Cited by 6 publications

References 18 publications

An all-position type control strategy of the haptic interactive virtual training system based on cable-driven

An all-position type control strategy of the haptic interactive virtual training system based on cable-driven

A New Composite Control Strategy for an Astronaut Virtual Operation Training System Based on Cable-Driven Technology

Velocity planning method for position–velocity–time control based on a modified S-shaped acceleration/deceleration algorithm

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