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Optimal Orientation Planning and Control Deviation Estimation on FAST Cable-Driven Parallel Robot
Li, Hui1,2; Yao, Rui1,2
2014
发表期刊ADVANCES IN MECHANICAL ENGINEERING
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.
文章类型Article
WOS标题词Science & Technology ; Physical Sciences ; Technology
DOI10.1155/2014/716097
收录类别SCI
语种英语
WOS研究方向Thermodynamics ; Engineering
WOS类目Thermodynamics ; Engineering, Mechanical
WOS记录号WOS:000333622900001
引用统计
文献类型期刊论文
条目标识符http://libir.pmo.ac.cn/handle/332002/15754
专题太阳高能及相关物理过程研究团组
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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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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