PMO OpenIR  > 太阳高能及相关物理过程研究团组
Optimal Orientation Planning and Control Deviation Estimation on FAST Cable-Driven Parallel Robot
Li, Hui1,2; Yao, Rui1,2
2014
Source PublicationADVANCES IN MECHANICAL ENGINEERING
AbstractThe paper is devoted theoretically to the optimal orientation planning and control deviation estimation of FAST cable-driven parallel robot. Regarding the robot characteristics, the solutions are obtained from two constrained optimizations, both of which are based on the equilibrium of the cabin and the attention on force allocation among 6 cable tensions. A kind of control algorithm is proposed based on the position and force feedbacks. The analysis proves that the orientation control depends on force feedback and the optimal tension solution corresponding to the planned orientation. Finally, the estimation of orientation deviation is given under the limit range of tension errors.
WOS HeadingsScience & Technology ; Physical Sciences ; Technology
DOI10.1155/2014/716097
Indexed BySCI
Language英语
WOS Research AreaThermodynamics ; Engineering
WOS SubjectThermodynamics ; Engineering, Mechanical
WOS IDWOS:000333622900001
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://libir.pmo.ac.cn/handle/332002/15744
Collection太阳高能及相关物理过程研究团组
Affiliation1.Chinese Acad Sci, Natl Astron Observ, Beijing 100012, Peoples R China
2.Chinese Acad Sci, Key Lab Radio Astron, Beijing 100012, Peoples R China
Recommended Citation
GB/T 7714
Li, Hui,Yao, Rui. Optimal Orientation Planning and Control Deviation Estimation on FAST Cable-Driven Parallel Robot[J]. ADVANCES IN MECHANICAL ENGINEERING,2014.
APA Li, Hui,&Yao, Rui.(2014).Optimal Orientation Planning and Control Deviation Estimation on FAST Cable-Driven Parallel Robot.ADVANCES IN MECHANICAL ENGINEERING.
MLA Li, Hui,et al."Optimal Orientation Planning and Control Deviation Estimation on FAST Cable-Driven Parallel Robot".ADVANCES IN MECHANICAL ENGINEERING (2014).
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