Title :
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
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;
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
DOI :
10.1109/ICIEA.2010.5515501
