NDLI: Error modeling and accuracy analysis of a multi-level hybrid support robot

Content Provider	IEEE Xplore Digital Library
Author	Xiaoming Chai Xiaoqiang Tang Lewei Tang Qiujian Lu
Copyright Year	2012
Description	Author affiliation: State Key Laboratory of Tribology, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China (Xiaoming Chai; Xiaoqiang Tang; Lewei Tang; Qiujian Lu)
Abstract	As for the multi-level hybrid feed support robot in the Five-hundred-meter Aperture Spherical radio Telescope (FAST), the cabin's time-varying barycenter and structural deformation are main factors causing the terminal receivers' pose error. In order to ensure tracking accuracy of astronomical observations, firstly the elasticity model of the cable-driven Stewart manipulator is deduced to analyze the terminal error caused by the gravity torque. Newton-Raphson method is adopted to acquire the terminal error range and propose compensation strategy. Then error model considering structural deformation is formulated and the terminal accuracy is analyzed with an improved set theory based method. Finally the sensitivity analysis is also carried out and accuracy synthesis is implemented. Error modeling and analysis method proposed for the support robot in this paper can also be used to other complex hybrid robots with either large dimension or heavy duty.
Starting Page	2319
Ending Page	2324
File Size	439244
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225144
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vectors Accuracy Manipulators Receivers Feeds Frequency selective surfaces
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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