Development of a large parallel-cable manipulator for the feed-supporting system of a next-generation large radio telescope

Authors
Su, YX Duan, BY Nan, RD Peng, B
Citation
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
Citations number
20
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
JOURNAL OF ROBOTIC SYSTEMS
ISSN journal
07412223 → ACNP
Volume
18
Issue
11
Year of publication
2001
Pages
633 - 643
Database
ISI
SICI code
0741-2223(200111)18:11<633:DOALPM>2.0.ZU;2-F
Abstract
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.