The Feed Support System (FSS) of Five-hundred-meter Aperture Spherical radio Telescope (FAST) is a multi-level redundant support manipulator, which consists of a cable driven parallel manipulator, an A B rotation mechanism and a Gough Stewart platform.
In order to improve the tracking control performance under uncertainty, this paper presents a new hybrid control scheme for the manipulator, which consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID).
This paper presents a new method for using Petri net models in order to design and implement a sequence controller for a small scale robotic cell which consists of a robotic manipulator, a variety of sensors and electro-pneumatic actuators.
The prototype of the manipulator is a three-degree-of-freedom mechanism, which consists of a system of parallel kinematical chains connecting to a moving platform.
In this method, isotropic manipulators can be easily developed from an isotropy generator, which consists of six straight lines satisfying the isotropy conditions.
The proposed model and compensation control schemes are experimentally validated using a prototype of a single-DOF-Master Slave single-DOF-Master Slaveof a masingle-DOF-Master Slavegical worksystemn, and a slave manipulator.
The system, which consists of a RF-Color Camera, a PC and pneumatically actuated robot manipulator, is configured to operate in real time and on line applications.
The cascade controller, which consists of an inner loop and an outer loop, is applied to separate the hydraulic dynamics from the mechanical part so that the designed controller takes into account not only the mechanical dynamics but also the hydraulic dynamics of the manipulator.
In 2002, Honda developed a third prototype which consisted of a 6 DOF plan manipulator for the mock-up motion, a head mounted display for visual projection, a 4 DOF model for the lateral motorcycle dynamics and a 1 DOF model for the longitudinal dynamics [1, 2].
To circumvent this problem, a second, less generic, approach was developed which consisted of a mixed numerical-analytic solution of the inverse kinematics problem exploiting the particular structure of the P6R manipulator.
The haptic interface consists of a real-time display of a virtual or remote environment and a manipulator, which serves as the interface between the human operator and the simulation.
