Optimization of redundant driving force for high-speed cable-driven parallel camera robots

摘要

Determination of redundant tension distribution for completely restrained positioning mechanism is transformed into a polynomial formulation extreme value problem in the convex feasible domain in this paper;and the real-time and continuous indices for measuring cable tension optimization solutions is also presented.A typical cable tension optimal distribution of the CDPCR is determined in order to provide an insight into the problem,so that the real-time and continuity of several tension optimal indices are compared and analyzed.Furthermore,concrete suggestions of index selection are given.