中文摘要：

本文研究一种具有关节角反馈的3-DOF绳驱动仿人肩关节,采用3个垂直相交于一点的单轴机构实现肩关节的功能.针对绳驱动技术中绳的弹性和机械安装误差,在各关节上均安装编码器读取各关节位置误差.针对并联机构输出耦合的问题,设计了具有逆运动学的实时计算和误差在线补偿的线性位置插补方法.同时针对载荷变化引起的绳上张力变化剧烈和振荡等问题,提出以安全阈值为规划目标的避张力极限优化算法.最后设计了基于PC和运动控制卡的实时运动控制系统,实验结果证明了算法的正确性和控制系统的有效性.

英文摘要：

On a 3-DOF cable-driven humanoid shoulder with joint angle feedback,the shoulder＇s function is achieved by three mutually perpendicular single-axis joints intersecting at one point.Encoders are installed on each joint to obtain the control error caused by elasticity of cables and mechanism installation.For the output coupling problem of parallel mechanism,a linear position interpolation algorithm is proposed with real-time computation of inverse kinematics and online error compensation.Besides,an optimal tension distribution algorithm avoiding tension limits is proposed to solve the tension dramatic changes and oscillation problems,in which the safety threshold is used as programming object.The real time motion control system based on PC and motion controller is designed and experiments are carried out to demonstrate the correctness of the algorithm and the effectiveness of the control system.