Optimal Orientation Planning and Control Deviation Estimation on FAST Cable-Driven Parallel Robot

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	Optimal Orientation Planning and Control Deviation Estimation on FAST Cable-Driven Parallel Robot
	Li, Hui1,2 ; Yao, Rui 1,2
刊名	ADVANCES IN MECHANICAL ENGINEERING
	2014
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
内容类型	期刊论文
源URL	[http://libir.pmo.ac.cn/handle/332002/15754]
专题	紫金山天文台_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
推荐引用方式 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).