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题名: Optimal Orientation Planning and Control Deviation Estimation on FAST Cable-Driven Parallel Robot
作者: Li Hui(黎辉)1, 2; Yao, Rui1, 2
刊名: ADVANCES IN MECHANICAL ENGINEERING
出版日期: 2014
DOI: 10.1155/2014/716097
文章类型: Article
英文摘要: The 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标题词: Science & Technology ; Physical Sciences ; Technology
类目[WOS]: Thermodynamics ; Engineering, Mechanical
研究领域[WOS]: Thermodynamics ; Engineering
收录类别: SCI
语种: 英语
WOS记录号: WOS:000333622900001
Citation statistics:
内容类型: 期刊论文
URI标识: http://libir.pmo.ac.cn/handle/332002/15754
Appears in Collections:太阳高能及相关物理过程研究团组_期刊论文

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作者单位: 1.Chinese Acad Sci, Natl Astron Observ, Beijing 100012, Peoples R China
2.Chinese Acad Sci, Key Lab Radio Astron, Beijing 100012, Peoples R China
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