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Nonlinear PD control of a long-span cable-supporting manipulator in quasi-static motion / Jingli Du in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 1 (Janvier 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 09 p. Titre : Nonlinear PD control of a long-span cable-supporting manipulator in quasi-static motion Type de document : texte imprimé Auteurs : Jingli Du, Auteur ; Hong Bao, Auteur ; Chuanzhen Cui, Auteur Année de publication : 2012 Article en page(s) : 09 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : End  effectors  Manipulator  dynamics  Nonlinear  control  systems  PD  control Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais 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=JDSMAA00013400 [...] [article] Nonlinear PD control of a long-span cable-supporting manipulator in quasi-static motion [texte imprimé] / Jingli Du, Auteur ; Hong Bao, Auteur ; Chuanzhen Cui, Auteur . - 2012 . - 09 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 09 p. Mots-clés : End  effectors  Manipulator  dynamics  Nonlinear  control  systems  PD  control Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais 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=JDSMAA00013400 [...]