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.
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Qi, L., Zhang, H. & Duan, G. Task-space position/attitude tracking control of FAST fine tuning system. Front. Mech. Eng. China 3, 392–399 (2008). https://doi.org/10.1007/s11465-008-0056-8
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DOI: https://doi.org/10.1007/s11465-008-0056-8