Control of an Overactuated Cable-Driven Parallel Mechanism for a Radio Telescope Application

The large adaptive reflector is a Canadian design concept for a new type of large-scale radio telescope. This new telescope would be composed of a reflector made of individually actuated panels and a multitethered feed platform held aloft by an aerostat. This paper focuses on the position and orientation control of the feed platform. Models of both the cables and the feed platform are first derived. Then, a control strategy adapted to the particular system's dynamics is designed. This control strategy is based on a cascade-control architecture, in which the inner control loop adjusts the tension in each cable. This inner loop controller is synthesized using the H infin optimal-control technique. In addition, gain scheduling is used to adapt the H infin optimal controller to the cable lengths. The outer control loop adjusts the pose of the feed platform, using inverse-dynamics control and PID control. The model derived is coupled to the multiloop controller, and simulations are run to evaluate the performance level of the control strategy.

[1]  Bhaskar Dasgupta,et al.  A Newton-Euler Formulation for the Inverse Dynamics of the Stewart Platform Manipulator , 1998 .

[2]  Meyer Nahon,et al.  Dynamics/Control of a Radio Telescope Receiver Supported by a Tethered Aerostat , 2002 .

[3]  Aaas News,et al.  Book Reviews , 1893, Buffalo Medical and Surgical Journal.

[4]  A. van Ardenne,et al.  Concepts of the Square Kilometre Array; toward the new generation radio telescopes , 2000, IEEE Antennas and Propagation Society International Symposium. Transmitting Waves of Progress to the Next Millennium. 2000 Digest. Held in conjunction with: USNC/URSI National Radio Science Meeting (C.

[5]  Benoit Boulet,et al.  Active control of vibrations transmitted through a car suspension , 2004 .

[6]  G. Zames,et al.  H ∞ -optimal feedback controllers for linear multivariable systems , 1984 .

[7]  Alexandre Boyer.  Control designs for the Canadian Large Adaptive Radiotelescope concept , 2005 .

[8]  F.-T. Cheng,et al.  Robust Control of Manipulators Using the Computed Torque plus H∞ Compensation Method , 1996 .

[9]  Woong Kwon,et al.  Optimal force distribution of multiple cooperating robots using nonlinear programming dual method , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[10]  Bruce A. Francis,et al.  Uncertainty modeling and experiments in 𝒽∞ control of large flexible space structure , 1997, IEEE Trans. Control. Syst. Technol..

[11]  K. Kreutz.  On manipulator control by exact linearization , 1989 .

[12]  F. Deschênes,et al.  Design Improvements for a Multi-Tethered Aerostat System , 2005 .

[13]  Lih-Chang Lin,et al.  Modeling and control of micropositioning systems using Stewart platforms , 2000, J. Field Robotics.

[14]  J. Doyle,et al.  Essentials of Robust Control , 1997 .

[15]  Meyer Nahon,et al.  The Large Adaptive Reflector: A Giant Radio Telescope with an Aero Twist , 2002 .

[16]  Clément Gosselin.  Parallel computational algorithms for the kinematics and dynamics of parallel manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[17]  Zexiang Li,et al.  Dynamics and control of redundantly actuated parallel manipulators , 2003 .

[18]  Bruce A. Francis,et al.  Uncertainty modeling and experiments in H/sub /spl infin// control of large flexible space structures , 1995, Proceedings of International Conference on Control Applications.

[19]  Gabriel. Meunier.  Control of an overactuated cable-driven parallel manipulator , 2006 .

[20]  Jorge Angeles,et al.  Force optimization in redundantly-actuated closed kinematic chains , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[21]  C. Gosselin,et al.  Determination of the Dynamic Workspace of Cable-Driven Planar Parallel Mechanisms , 2005 .

[22]  Charles C. Nguyen,et al.  Dynamic analysis of a 6 DOF CKCM robot end-effector for dual-arm telerobot systems , 1989, Robotics Auton. Syst..

[23]  Frank L. Lewis,et al.  Modeling and control of a stewart platform manipulator , 1991 .

[24]  Wisama Khalil,et al.  Inverse and direct dynamic modeling of Gough-Stewart robots , 2004, IEEE Transactions on Robotics.