PMAC-based control system for a cable-driven spherical joint with angle feedback

Author

Wang, Jianhua ; Liu, Suqing ; Chen, Weihai ; Yu, Shouqian

Author_Institution

Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

fYear

2010

fDate

15-17 June 2010

Firstpage

1928

Lastpage

1933

Abstract

In this paper, a cable-driven spherical joint with angle feedback is proposed and the geometric numerical inverse kinematic algorithm is analyzed. Based on this, a new online control method is presented. In this method, the actual position of the spherical joint is calculated via inverse kinematics and the control error is compensated immediately. A experimental system with industrial PC (IPC) and PMAC motion controller is designed to demonstrate the effectiveness of the proposed algorithm and control method. Experimental results is not only effective high control precision. The control accuracy is greatly improved with real-time joint angle feedback and on-line position error compensation.

Keywords

control engineering computing; error compensation; feedback; manipulator kinematics; motion control; PMAC based control system; PMAC motion controller; angle feedback; cable driven spherical joint; geometric numerical inverse kinematic algorithm; industrial PC; online control method; online position error compensation; Algorithm design and analysis; Automatic control; Control systems; Feedback; Kinematics; Motion control; Parallel robots; Prototypes; Pulleys; Robotics and automation; cable-driven; joint angle feedback; spherical joint;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2010 the 5th IEEE Conference on

Conference_Location

Taichung

Print_ISBN

978-1-4244-5045-9

Electronic_ISBN

978-1-4244-5046-6

Type

conf

DOI

10.1109/ICIEA.2010.5515501

Filename

5515501