PMAC-based control system for a cable-driven spherical joint with angle feedback

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.

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