Dynamics and control of cable-suspended parallel robots for giant telescopes | |
Peng ZHUANG ; Zhengqiu YAO | |
2006-05-24 | |
会议日期 | 2006-5-24 |
会议地点 | Orlando, FL |
关键词 | cable-suspended parallel robot dynamics controller trajectory tracking giant telescope |
卷号 | 6267 |
期号 | 6267 |
页码 | Vol.6267 3H-1-11 |
英文摘要 |
A cable-suspended parallel robot utilizes the basic idea of Stewart platform but replaces parallel links with cables and linear actuators with winches. It has many advantages over a conventional crane. The concept of applying a cable-suspended parallel robot into the construction and maintenance of giant telescope is presented in this paper.
Compared with the mass and travel of the moving platform of the robot, the mass and deformation of the cables can be disregarded. Based on the premises, the kinematic and dynamic models of the robot are built. Through simulation, the inertia and gravity of moving platform are found to have dominant effect on the dynamic characteristic of the robot, while the dynamics of actuators can be disregarded, so a simplified dynamic model applicable to real-time control is obtained. Moreover, according to control-law partitioning approach and optimization theory, a workspace model-based controller is proposed considering the characteristic that the cables can only pull but not push. The simulation results indicate that the controller possesses good accuracy in pose and speed tracking, and keeps the cables in reliable tension by maintaining the minimum strain above a certain given value, thus ensures smooth motion and accurate localization for moving platform. |
会议主办者 | The International Society for Optical Engineering |
会议录 | Ground-based and Airborne Telescopes |
会议录出版者 | SPIE |
学科主题 | 天文技术与方法 |
内容类型 | 会议论文 |
源URL | [http://ir.niaot.ac.cn/handle/114a32/440] |
专题 | 南京天文光学技术研究所_中科院南京天光所知识成果_会议论文 南京天文光学技术研究所_望远镜新技术研究室_会议论文 |
推荐引用方式 GB/T 7714 | Peng ZHUANG,Zhengqiu YAO. Dynamics and control of cable-suspended parallel robots for giant telescopes[C]. 见:. Orlando, FL. 2006-5-24. |
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