| Titre : | Nonlinear PD control of a long-span cable-supporting manipulator in quasi-static motion (2012) |
| Auteurs : | Jingli Du, Auteur ; Hong Bao, Auteur ; Chuanzhen Cui, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 134 N° 1, Janvier 2012) |
| Article en page(s) : | 09 p. |
| Note générale : | Dynamic systems |
| Langues : | Anglais |
| Index. décimale : | 553 (Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais) |
| Tags : | End effectors Manipulator dynamics Nonlinear control systems PD |
| Résumé : | This paper addresses modeling and control of a cable-supporting manipulator serving as the feed supporting structure of a large radio telescope. The manipulator consists of six long cables so that their curves must be considered. The end-effector is prone to vibration due to the long-span cables even if cable lengths can change perfectly just as they are expected. To deal with this problem, a feedback controller in the workspace is devised, in which the effects of both the cable length error and the pose error of the end-effector are taken into account. A controller is first devised for the resultant cable wrench exerted on the end-effector. Then the incremental relationship between the cable end force and the cable length together with the displacements of the end-effector is deduced. Combining this relationship, we convert the controller into a nonlinear one with cable length increment as the control output, which can be readily utilized in the manipulator. Numerical examples and experiments carried out on a field model of dimension 50 m validate the positioning precision of the manipulator and we can conclude the feasibility of the proposed feed supporting system. |
| DEWEY : | 553 |
| ISSN : | 0022-0434 |
| En ligne : | http://www.asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000001011022000001&idtype=cvips&gifs=Yes&ref=no |
