|
|
|
Task-space position/attitude tracking control
of FAST fine tuning system |
| QI Lin, ZHANG Hui, DUAN Guanghong |
| Department of Precision Instrument and Mechanology, Tsinghua University |
|
|
|
|
Abstract This paper addresses the task-space position/attitude tracking control of a suspended parallel robot, which is being developed in the framework of a five-hundred meter aperture spherical radio telescope (FAST) project. Based on the quaternion algebra, a novel model-independent task-space PD controller that ensures end-effector position and attitude tracking is presented. The simulation and experimental results show that the new controller has better control effects than the traditional joint-space controller.
|
|
Issue Date: 05 December 2008
|
|
| 1 |
Nan R, Peng B . A Chinese concept for the1 km radio telescope. Act Astronautica, 2000, 46(10–12): 667–675.
doi:10.1016/S0094-5765(00)00030-8
|
| 2 |
Duan B . Anew design project of the line feed structure for large sphericalradio telescope and its nonlinear dynamic analysis. Mechatron, 1999, 9: 54–64
|
| 3 |
Su Y, Duan B . The mechanical design andkinematics accuracy analysis of a fine tuning stable platform forthe large spherical radio telescope. Mechatron, 2000,10: 819–834.
doi:10.1016/S0957-4158(99)00091-4
|
| 4 |
Zhou Q, Zhang H . Simulation and experimentalanalysis of the Stewart parallel mechanism for vibration control. IEEE International Conference on Systems, Man andCybernetics, 2003, 4: 3548–3552
|
| 5 |
Yuan Cheng, Ren Gexue, Dai ShiLiang . Vibration control of Gough-Stewart platform on flexiblesuspension. Robotics and Automation, 2003, 19(3): 489–493.
doi:10.1109/TRA.2003.810233
|
| 6 |
Ye Peiqing, Zhou Qian, Duan Guanghong . The stability analysis of the Gough-Stewart parallelmechanism on vibration control. IEEE Conferenceon Robotics, Automation and Mechatronics, 2004 : 248–252
|
| 7 |
Wen J T Y, Kreutz-Delgado K . The attitude control problem,IEEE Trans. On Automatic control, 1991, 36(10): 1148–1162.
doi:10.1109/9.90228
|
| 8 |
Meyer G . Designand global analysis of spacecraft attitude control systems. NASA Tech, 1971
|
| 9 |
Wie B, Weiss H, Arapostathis A . Quaternion feedback regulator for spacecraft eigenaxisrotations. J Guidance Contr, 1984, 12(3): 769–774
|
| 10 |
Wie B . Barba P M . Quaternion feedback for spacecraftlarge angle maneuvers. AIAA J Guidance,Contr Dyn, 1985, 8(3): 360–365.
doi:10.2514/3.19988
|
| 11 |
Taylor R H . Planning and execution of straight line manipulator trajectories. IBM J Res Dev, 1979 : 253–264
|
| 12 |
Wampler C W . Manipulator inverse kinematics solutions based on vector formulationand damped least-squares methods. IEEETrans Syst, Man, Cybernetics, 1986, 15(1): 93–101.
doi:10.1109/TSMC.1986.289285
|
| 13 |
Muscato G, Prestiflippo M . A fuzzy-PD for the positionand attitude control of an underwater robot, IEEE Conference on Emerging Technologies and Factory Automation, 2005, 2: 379–383.
doi:10.1109/ETFA.2005.1612703
|
| 14 |
Puntunan S, Parnichkun M . Attitude and heading controlof an autonomous flying robot. IECON 2004, 1: 157–162
|
| 15 |
Xian B, de Queiroz M S, Dawson D, Walker I . Task-spacetracking control of robot manipulators via quaternion feedback. IEEE Trans on Robotics and Automation, 2004, 20(1): 160–167.
doi:10.1109/TRA.2003.820932
|
| 16 |
Yuan J S C . Closed-loop manipulator control using quaternion feedback. IEEE Trans Robot Automat, 1988, 4: 434–440.
doi:10.1109/56.809
|
| 17 |
Song B, Ma G, Li C . Quaternion-based fuzzy attitude regulation of a rigidspacecraft. IEEE Conference on IntelligentControl and Automation, 2006 : 8434–8438
|
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
