Yx. Su et al., Development of a large parallel-cable manipulator for the feed-supporting system of a next-generation large radio telescope, J ROBOTIC S, 18(11), 2001, pp. 633-643
A large parallel-cable manipulator for the feed-supporting system of a next
-generation large radio telescope is presented in this paper. The approxima
te kinematics model of the system is developed to improve real-time control
lability, and the rationality of this approximation is validated by a kinem
atics accuracy analysis. In order to guarantee the effectiveness of control
, the singularity of the large parallel-cable manipulator is analyzed (incl
uding kinematics and force singularities). The control strategy of the para
llel-cable feed-supporting system is also proposed. (C) 2001 John Wiley & S
ons, Inc.