Task-space position/attitude tracking control of FAST fine tuning system

Front. Mech. Eng. ›› 2008, Vol. 3 ›› Issue (4) : 392 -399.

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Front. Mech. Eng. ›› 2008, Vol. 3 ›› Issue (4) : 392 -399. DOI: 10.1007/s11465-008-0056-8

Task-space position/attitude tracking control of FAST fine tuning system

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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.

Keywords

parallel robot / Stewart platform / position and attitude track / quaternion feedback / PD controller

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null. Task-space position/attitude tracking control of FAST fine tuning system. Front. Mech. Eng., 2008, 3(4): 392-399 DOI:10.1007/s11465-008-0056-8

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