Title :
Vibration control of Gough-Stewart platform on flexible suspension
Author :
Cheng, Yuan ; Ren, Gexue ; Dai, ShiLiang
Author_Institution :
Dept. of Eng. Mech., Tsinghua Univ., Beijing, China
fDate :
6/1/2003 12:00:00 AM
Abstract :
Studies the vibration control of the Gough-Stewart platform on flexible supporting structures. The distinct characteristic of this application is that the two platforms are dynamically coupled. A proportional derivative control law based on the position prediction is used in the system. The control effects are evaluated by comparing the root mean square responses of the two platforms.
Keywords :
astronomical instruments; dynamic response; flexible structures; receivers; robot dynamics; stability; two-term control; vibration control; Gough-Stewart Platform; flexible supporting structures; flexible suspension; position prediction; proportional derivative control law; root mean square responses; vibration control; Apertures; Automatic control; Cables; Manipulators; Parallel robots; Radio astronomy; Receivers; Robot control; Robotics and automation; Vibration control;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2003.810233
