头盔伺服系统的主动柔顺控制

doi:CNKI:11-1929/V.20111011.1412.011

Abstract

Abstract: In this paper, an active compliance control strategy and its key elements for helmet mounted display with parallel manipulator (HMDPM) is investigated. Firstly, the methodology of predicting head motion based on force feedback and a dynamic model of the extensible leg of a 6-3UPS parallel manipulator (PM) is proposed to plan the trajectory. Based on the relationship between the length of the extensible leg and the position and orientation of the platform, the information of head motion is predicted by means of sensor datum and solution of the dynamic model of the extensible leg, and then it is used as the desired trajectory of HMDPM position control. Secondly, the inertia term and nonlinear term of the HMDPM dynamic model are calculated, and the compensations of them are considered in the design of the HMDPM controller so that the contact force between head and helmet will be controlled easily while tracking control of the head is progressing. Finally, the SimMechanics module in MATLAB is adopted to construct a human-robot interactive model of HMDPM, and the feasibility of the novel control strategy is verified by developing some related numerical simulations. The simulations show that head motion will be predicted rapidly and precisely using the proposed method, and the stiffness of HMDPM and contact force are reduced evidently by compensating for the inertia term and the nonlinear term in the HMDPM controller while tracking control of the head is conducted, and user comfort is obviously enhanced.

Key words: parallel manipulator, prediction of head motion, active compliance control, position control, dynamic model, impedance control, hybrid position/force control

CLC Number:

V244
TH113

LI Peng, GU Hongbin, WU Dongsu, LIU Hui. Active Compliance Control of Helmet Mounted Display with Parallel Manipulator[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2012, (5): 928-939.

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Active Compliance Control of Helmet Mounted Display with Parallel Manipulator

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