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 modelindependent task-space PD controller that ensures endeffector 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.
Original language | English |
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Pages (from-to) | 392-399 |
Number of pages | 8 |
Journal | Frontiers of Mechanical Engineering in China |
Volume | 3 |
Issue number | 4 |
DOIs | |
Publication status | Published - 1 Dec 2008 |
Externally published | Yes |
Keywords
- Parallel robot
- PD controller
- Position and attitude track
- Quaternion feedback
- Stewart platform
ASJC Scopus subject areas
- Mechanical Engineering