中文摘要：

由于线驱动机器人采用绳索传动,而绳索具有一定的弹性,增加了控制的难度。为了提高线驱动机器人的控制精度,提出了一种P-PID控制算法,弥补了电机回程时由于绳索弹性产生的误差。基于六自由度线驱动机器人进行实验证明该算法的有效性。实验结果表明,相比于传统的PID控制算法,该算法有效地降低了绳索传动时的回程误差,提高了机器人的末端控制精度。

英文摘要：

As the wire - driven robot uses ropes to transmit motion, and the rope has a certain flexibil- ity, the difficulty of control is increased. In order to improve the control accuracy of the wire - driven ro- bot, a P - PID control algorithm was proposed, which compensated for the error caused by the elasticity of the rope when the motor returned. Experiments on a 6 DOF line - driven robot were carried out to demon- strate the effectiveness of the proposed algorithm. The experimental results showed that compared with the traditional PID control algorithm, the P -PID algorithm can effectively reduce the return error and im- prove the end control accuracy of the robot.