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Motion prediction and supervisory control of the macro–micro parallel manipulator system

Published online by Cambridge University Press:  11 April 2011

Xuechao Duan ,
Yuanying Qiu ,
Jianwei Mi  and
Ze Zhao
Xuechao Duan*
Affiliation:
Research Institute on Mechatronics, School of Electromechanical Engineering, Xidian University, Xi'an 710071, P. R. China
Yuanying Qiu
Affiliation:
Research Institute on Mechatronics, School of Electromechanical Engineering, Xidian University, Xi'an 710071, P. R. China
Jianwei Mi
Affiliation:
Research Institute on Mechatronics, School of Electromechanical Engineering, Xidian University, Xi'an 710071, P. R. China
Ze Zhao
Affiliation:
Research Institute on Mechatronics, School of Electromechanical Engineering, Xidian University, Xi'an 710071, P. R. China
*
*Corresponding author. E-mail: xchduan@xidian.edu.cn
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Summary

This paper deals with the motion prediction and control of the macro–micro parallel manipulator system for a 500-m-aperture spherical radio telescope (FAST). Firstly, based on principles of parallel mechanism, a decoupled tracking and prediction algorithm to predict the position and orientation of the movable macro parallel manipulator is presented in this paper. Then, taken as the upper layer supervisory controller in the joint space of the micro parallel manipulator, the adaptive interaction PID controller utilizing the adaptive interaction algorithm to adjust the parameters of a canonical PID controller is discussed. In addition, the digital servo filters with feedforward are employed in the linear actuators as the lower layer controllers. Experimental results of a one-tenth scale FAST field model validate the effectiveness of the supervisory controller and the motion prediction algorithm.

Keywords

Macro–micro parallel manipulatorSupervisory controlTracking and predictionAdaptive interactionForward position kinematicsStewart platform
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1005 - 1015
Copyright
Copyright © Cambridge University Press 2011

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