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

Li Hui | Zendy; Yao Rui | Zendy

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

Author(s) -

Li Hui,

Yao Rui

Publication year - 2014

Publication title -

advances in mechanical engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.318

H-Index - 40

ISSN - 1687-8132

DOI - 10.1155/2014/716097

Subject(s) - orientation (vector space) , robot , standard deviation , range (aeronautics) , control theory (sociology) , position (finance) , computer science , control (management) , tension (geology) , parallel manipulator , simulation , engineering , mathematics , artificial intelligence , physics , moment (physics) , geometry , economics , statistics , finance , classical mechanics , aerospace engineering

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.

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