Dynamic modeling and trajectory tracking control method of segmented linkage cable-driven hyper-redundant robot

The dynamics modeling and trajectory optimization of a segmented linkage cable-driven hyper-redundant robot (SL-CDHRR) become more challenging, since there are multiple couplings between the active cables, passive cables, joints and end-effector. To deal with these problems, this paper proposes a dynamic modeling and trajectory tracking control methods for such type of CDHRR, i.e., SL-CDHRR. First, the multi-coupling kinematics equation (i.e., cable-joint-end) of the hyper-redundant robot is derived. Then, according to the transmission characteristics of the hybrid active/passive segmented linkage, the dynamic equation of series-parallel coupling is derived. It consists of parallel-active dynamics and series-passive dynamics. Furthermore, using the tension of active cables and the pose of the end-effector as optimization indicators, a trajectory tracking framework was constructed by the combination of dynamic feedforward control and PD control. The multi-objective particle swarm optimization method is used to achieve the simultaneous optimization of the energy indicator and control accuracy indicator during the trajectory tracking process. Finally, a MATLAB/SimMechanics co-simulation system is built, and the proposed methods are verified by the built co-simulation system.