柔性支撑Stewart平台的分析、优化与控制研究
|
摘要
本文依托国家自然科学基金“巨型射电天文望远镜(FAST)总体设计与关键技术研究”重点项目,针对超大型柔索驱动并联机器人难以满足馈源跟踪精度要求的难题,探讨了六自由度Stewart平台作为二级精调稳定机构、实现FAST馈源支撑与指向跟踪系统空间高精度动态定位、指向和轨迹跟踪的关键性问题。对Stewart平台的机电综合伺服带宽、构型优化设计、软硬件实现、机构标定和运动控制进行了深入研究,通过FAST50m缩尺现场模型进行了实验验证。主要工作及创造性成果如下:
1.定义了具有明确物理意义的机电综合伺服带宽,给出了对Stewart平台机电一体化系统响应快速性的评价方法。从Stewart平台机构的运动学和动力学角度,分析了决定其伺服带宽的机械和控制因素,得出了在选定Stewart平台构型参数、驱动支腿的动力学性能和虎克铰、球铰的负载能力的情况下,求解伺服带宽的通用方法,并进行了算例分析。
2.建立了综合衡量机构运动学、动力学性能和动力学耦合程度的Stewart平台构型设计多目标优化模型,采用实值编码的自适应遗传算法,对Stewart平台的优化问题进行了求解。得到了在满足灵活工作空间和机电综合伺服带宽的前提下,具有更高灵巧度和更弱动力学耦合作用的设计参数。
3.构建了基于SynqNet同步多轴网络控制器的Stewart平台软、硬件控制系统,实现了馈源平台的典型轨迹动态跟踪控制。采用具有运动平滑作用的梯形速度模式进行了固定基座Stewart平台的典型轨迹规划与实现,针对建造的Stewart平台,进行了工作空间、静态定位精度、动态轨迹跟踪精度和机电综合伺服带宽的实验研究,验证了Stewart平台优化设计结果的有效性。
4.提出了基于并联机构学原理的三维机动目标解耦跟踪预测算法,为克服馈源舱在外部扰动(风荷和动力学耦合)和内部摄动(柔索系统的柔性、滞后和铰链的摩擦等)作用下的位移响应对馈源平台定位指向的影响奠定了基础。该算法构造了具有良性条件数的虚拟Stewart平台,采用非线性跟踪微分器在其解耦的关节空间进行支腿长度的跟踪预测,进而通过虚拟Stewart平台的位置正解实现了对馈源舱运动位姿的跟踪预测,算例分析证实了所提出算法的高精度和实时性。
5.设计了自适应交互PID监督控制器,解决了柔性支撑Stewart平台的控制难题。引入自适应交互算法解决了PID参数的实时调整,用以产生柔性支撑Stewart平台的规划级控制量,在电动缸执行级采用带前馈的数字PID伺服滤波器完成电动缸的高精度轨迹跟踪,改善了馈源舱和Stewart平台耦合系统控制过程的动态性能。FAST50m模型现场实验表明,结合解耦预测算法对馈源舱的运动预测,自适应交互PID监督控制器效果明显,确保了馈源支撑与指向跟踪系统在以期望的跟踪速度运行时,定位和指向精度完全满足控制要求。
The research works of this dissertation are based on a major project of Chinese National Science Foundation, entitled by“Overall design and key technogies research of the five hundred meters aperture shperical radio telescope (FAST)”. In view of the difficulty to realize the tracking precision of the feed source for the huge flexible wire driven parallel manipulator (WDPR), several key technological problems in the application of the six-degrees-of-freedom Stewart platform, which was used as a secondary stabilizing and tuning mechanism for achieving the specification of the feed source in FAST, were delt with. The mechatronic servo bandwidth, design optimization, software and hardware implementation, calibration and motion control were developed, which were validated by the experiments of the 50m scaled model of FAST. The main works can be described as follows.
1. The definition of mechatronic servo bandwidth of the six-degrees-of-freedom Stewart platform was made in the beginning, which has the straightforward physical meaning and can be used to estimate the moving ripidity of the mechatronic system of the Stewart platform. The mechanical and control factors determining the mechatronic servo bandwidth were discussed in the kinematics and dynamics points of view. Given the configuration parameters, dynamical performace of the legs and load capacity of the universal and spherical joints, the general solution to the servo bandwidth is proposed. Besides, a case study was carried out.
2. The multi-objective configuration optimization model of the Stewart platform was established, which integrated the kinematic, dynamic peformance and dynamical compliance degree with the flexbile base. The real-coded adaptive genetic algorithm was employed to solve the optimization problem. Under the conditioin of satisfying the dexterous and mechatronic servo bandwidth, the design parameters of the Stewart platform for higher dexterity and weaker dynamical compliance were obtained.
3. Based on the SynqNet sychronized multi-axis network controller, the hardware and software control system of the Stewart platform were developed, and the following control of the typical trajectory was implemented. The smoothly moving trapezoidal mode was adopted to plan and realize the typical trajectory. Aiming at the constructed Stewart platform, experiments on the workspace, static positioning accuracy, and dynamical trajectory tracking accurcy and mechatronic servo bandwidth were carried out. Consequently, the optimized result was validated by experiments.
4. A decoupled tracking and prediction algorithm was presented, which laid a base for overcoming the effect of displacement response of the feed cabin by the external disturbance (wind load and dynamical compliance) and internal perturbation (the flexibility and lag of the flexible cables, the friction of the joints) on the feed platform. In this algorithm the three dimensional object was treated as the end-effector of a suppositional six degrees-of-freedom fully parallel manipulator. The lengths of actuating links are predicted in the decouled joint space, and then the future position of the object is obtained with forward kinematics of the suppositional parallel manipulator. Taking the two stage compound control model of FAST feed supporting and orienting system as an example, the numerical simulation shows the algorithm has the advantages of high predication accuracy and real time computation.
5. In order to overcome the control difficulty of the flexible supported Stewart platform, the adaptive interactive PID controller, which utilized the adaptive interactive algorithm to adjust the parameters of conventional PID controller, was devised as the supervisory controller in the joint space of the Stewart platform. The supervisory controller was used to generate the control commands in the upper level of the electrical cylinders and improve the dynmical performance of the control process. Besides, in the lower level of the the electrical cylinders, the digital servo filters with feedforward were employed to track the desired trajectory accurately. The experiments of the FAST50m field model validate the effectiveness of the adaptive PID supervisory controller, accompanied with the motion predication of the feed cabin. The feed supporting, pointing and tracking system could meet the demands of positioning and orientating precision with the desired tracking velocity.
1.定义了具有明确物理意义的机电综合伺服带宽,给出了对Stewart平台机电一体化系统响应快速性的评价方法。从Stewart平台机构的运动学和动力学角度,分析了决定其伺服带宽的机械和控制因素,得出了在选定Stewart平台构型参数、驱动支腿的动力学性能和虎克铰、球铰的负载能力的情况下,求解伺服带宽的通用方法,并进行了算例分析。
2.建立了综合衡量机构运动学、动力学性能和动力学耦合程度的Stewart平台构型设计多目标优化模型,采用实值编码的自适应遗传算法,对Stewart平台的优化问题进行了求解。得到了在满足灵活工作空间和机电综合伺服带宽的前提下,具有更高灵巧度和更弱动力学耦合作用的设计参数。
3.构建了基于SynqNet同步多轴网络控制器的Stewart平台软、硬件控制系统,实现了馈源平台的典型轨迹动态跟踪控制。采用具有运动平滑作用的梯形速度模式进行了固定基座Stewart平台的典型轨迹规划与实现,针对建造的Stewart平台,进行了工作空间、静态定位精度、动态轨迹跟踪精度和机电综合伺服带宽的实验研究,验证了Stewart平台优化设计结果的有效性。
4.提出了基于并联机构学原理的三维机动目标解耦跟踪预测算法,为克服馈源舱在外部扰动(风荷和动力学耦合)和内部摄动(柔索系统的柔性、滞后和铰链的摩擦等)作用下的位移响应对馈源平台定位指向的影响奠定了基础。该算法构造了具有良性条件数的虚拟Stewart平台,采用非线性跟踪微分器在其解耦的关节空间进行支腿长度的跟踪预测,进而通过虚拟Stewart平台的位置正解实现了对馈源舱运动位姿的跟踪预测,算例分析证实了所提出算法的高精度和实时性。
5.设计了自适应交互PID监督控制器,解决了柔性支撑Stewart平台的控制难题。引入自适应交互算法解决了PID参数的实时调整,用以产生柔性支撑Stewart平台的规划级控制量,在电动缸执行级采用带前馈的数字PID伺服滤波器完成电动缸的高精度轨迹跟踪,改善了馈源舱和Stewart平台耦合系统控制过程的动态性能。FAST50m模型现场实验表明,结合解耦预测算法对馈源舱的运动预测,自适应交互PID监督控制器效果明显,确保了馈源支撑与指向跟踪系统在以期望的跟踪速度运行时,定位和指向精度完全满足控制要求。
The research works of this dissertation are based on a major project of Chinese National Science Foundation, entitled by“Overall design and key technogies research of the five hundred meters aperture shperical radio telescope (FAST)”. In view of the difficulty to realize the tracking precision of the feed source for the huge flexible wire driven parallel manipulator (WDPR), several key technological problems in the application of the six-degrees-of-freedom Stewart platform, which was used as a secondary stabilizing and tuning mechanism for achieving the specification of the feed source in FAST, were delt with. The mechatronic servo bandwidth, design optimization, software and hardware implementation, calibration and motion control were developed, which were validated by the experiments of the 50m scaled model of FAST. The main works can be described as follows.
1. The definition of mechatronic servo bandwidth of the six-degrees-of-freedom Stewart platform was made in the beginning, which has the straightforward physical meaning and can be used to estimate the moving ripidity of the mechatronic system of the Stewart platform. The mechanical and control factors determining the mechatronic servo bandwidth were discussed in the kinematics and dynamics points of view. Given the configuration parameters, dynamical performace of the legs and load capacity of the universal and spherical joints, the general solution to the servo bandwidth is proposed. Besides, a case study was carried out.
2. The multi-objective configuration optimization model of the Stewart platform was established, which integrated the kinematic, dynamic peformance and dynamical compliance degree with the flexbile base. The real-coded adaptive genetic algorithm was employed to solve the optimization problem. Under the conditioin of satisfying the dexterous and mechatronic servo bandwidth, the design parameters of the Stewart platform for higher dexterity and weaker dynamical compliance were obtained.
3. Based on the SynqNet sychronized multi-axis network controller, the hardware and software control system of the Stewart platform were developed, and the following control of the typical trajectory was implemented. The smoothly moving trapezoidal mode was adopted to plan and realize the typical trajectory. Aiming at the constructed Stewart platform, experiments on the workspace, static positioning accuracy, and dynamical trajectory tracking accurcy and mechatronic servo bandwidth were carried out. Consequently, the optimized result was validated by experiments.
4. A decoupled tracking and prediction algorithm was presented, which laid a base for overcoming the effect of displacement response of the feed cabin by the external disturbance (wind load and dynamical compliance) and internal perturbation (the flexibility and lag of the flexible cables, the friction of the joints) on the feed platform. In this algorithm the three dimensional object was treated as the end-effector of a suppositional six degrees-of-freedom fully parallel manipulator. The lengths of actuating links are predicted in the decouled joint space, and then the future position of the object is obtained with forward kinematics of the suppositional parallel manipulator. Taking the two stage compound control model of FAST feed supporting and orienting system as an example, the numerical simulation shows the algorithm has the advantages of high predication accuracy and real time computation.
5. In order to overcome the control difficulty of the flexible supported Stewart platform, the adaptive interactive PID controller, which utilized the adaptive interactive algorithm to adjust the parameters of conventional PID controller, was devised as the supervisory controller in the joint space of the Stewart platform. The supervisory controller was used to generate the control commands in the upper level of the electrical cylinders and improve the dynmical performance of the control process. Besides, in the lower level of the the electrical cylinders, the digital servo filters with feedforward were employed to track the desired trajectory accurately. The experiments of the FAST50m field model validate the effectiveness of the adaptive PID supervisory controller, accompanied with the motion predication of the feed cabin. The feed supporting, pointing and tracking system could meet the demands of positioning and orientating precision with the desired tracking velocity.
引文
[1]彭勃,南仁东.通过国际合作,促进FAST自主创新.中国科学院院刊, 2004, 19(4): 308-309.
[2]南仁东. 500m球反射面射电望远镜FAST.中国科学G辑, 2005, 35(5): 449-466.
[3]段宝岩.天线结构分析、优化与测量.西安:西安电子科技大学出版社, 1998.
[4] Castleberg P A, Xilouris K M. Arecibo observatory. IEEE Potentials, 1997, 16(3): 33-35.
[5] Love A W. Arecibo Observatory 40th Anniversary celebration. IEEE Potentials, 2004, 23(2): 41-44.
[6] The Arecibo Observatory. http://www.naic.edu/public/descrip_eng.htm, 2007.08.25.
[7]段宝岩,苏玉鑫,仇原鹰等.新一代大射电望远镜机电光一体化设计研究.中国机械工程, 1999, 10(9): 1002-1004.
[8]雷源忠.我科学家对新一代大射电望远镜研究取得重要进展.中国机械工程, 1998, 9(11): 87.
[9] Duan B Y. A new design project of the line feed structure for large radio telescope and its nonlinear dynamic analysis. Mechatronics, 1999, 9(1): 53-64.
[10] Duan B Y, Zhang J B. Some new result about the integrated design of mechanical electronic, optic and automatic control technologies for next generation large radio telescopes. Invited paper at the Inter. Conf. of LT Workshop. Sydney, Australia, Dec. 15-18: 1997.
[11]段宝岩.柔性天线结构分析、优化与精密控制.北京:科学出版社, 2005.
[12]杨灏泉.飞行模拟器六自由度运动系统及其液压伺服系统的研究.哈尔滨:哈尔滨工业大学博士学位论文, 2002.
[13] Kulkarni N V, Ippolito C, Krishnakumar K. Dynamic-inversion-based control of a docking mechanism. AIAA Guidance, Navigation, and Control Conference 2006. Keystone, CO, United States: American Institute of Aeronautics and Astronautics Inc., Reston, VA 20191, United States, 2006. 105-114.
[14] Girone M, Burdea G, Bouzit M. A Stewart Platform-Based System for Ankle. Autonomous Robots, 2005, 10(2): 203-212.
[15] Ting Y, Chen Y S, Jar H C. Modeling and control for a Gough-Stewart platform CNC machine. Journal of Robotic Systems, 2004, 21(11): 609-623.
[16] Bonev I. The True Origins of Parallel Robots. www.parallemic.org/Reviews/Review007.html, 2007.08.12.
[17] Gough, V E, Whitehall S G. Universal tire test machine. Proceedings 9th Int. Technical Congress FISITA, 1962, : 117-135.
[18] Stewart D. A platform with six degrees of freedom. Proceedings of the Institution of Mechanical Engineers, 1965, 180(5): 371-386.
[19] Dasgupta B, Mruthyunjaya T S. The Stewart platform manipulator: a review. Mechanism and Machine Theory, 2000, 35(1): 15-40.
[20]段广洪,李铁民.并联机器的起源和发展.世界制造技术与装备市场, 2006, (1): 41-48.
[21] Hunt K H. Kinematic geometry of mechanisms. Oxford: Oxford University Press, 1978.
[22]黄真,孔令富,方跃法.并联机器人机构学理论及控制.北京:机械工业出版社, 1997.
[23] Nguyen C C, Pooran F J. Dynamical analysis of 6 DOF CKCM robot end-effector for dual-arm telerobot systems Systems. Journal of Robotics and Automation, 1989, 5: 377–394.
[24] Nguyen C C, Antrazi S S, Zhou Z L. Experimental study of motion control and trajectory planning for a Stewart platform robot manipulator. IEEE International Conference on Roboticsand Automation. Sacramento,California: 1991. 1873-1878.
[25]马晓丽,陈艾华,张雪莲等.并联机器人机构的创新与应用研究进展.机床与液压, 2007, 35(2): 235-238.
[26]汪劲松,黄田.并联机床——机床行业面临的机遇与挑战.中国机械工程, 1999, 10(10): 1103-1107.
[27] Dasgupta B, Mruthyunjaya T S. Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach. Mechanism and Machine Theory, 1998, 33(7): 993-1012.
[28] Dasgupta B, Mruthyunjaya T S. A Newton-Euler formulation for the inverse dynamics of the stewart platform manipulator. Mechanism and Machine Theory, 1998, 33(8): 1135-1152.
[29] Fu S W, Yao Y, Wu Y Q. Comments on "A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator" by B. Dasgupta and T.S. Mruthyunjaya [Mech. Mach. Theory 33 (1998) 1135-1152]. Mechanism and Machine Theory, 2007, 42(12): 1668-1671.
[30]冯志友,李永刚,张策.并联机器人机构运动与动力分析研究现状及展望.中国机械工程, 2006, 17(9): 979-984.
[31] Zanganeh K E, Sinatra R, Angeles J. Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs. ROBOTICA, 1997, 15(Part 4): 385-394.
[32] Tsai L W. Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work. Journal of Mechanical Design, 2000, 122(1): 3-9.
[33] Zhang C D, Song S M. An efficient method for the inverse dynamics of manipulators based on the virtual work principle. Journal of Robotic Systems, 1993, 10(5): 605-627.
[34] Dasgupta B, Mruthyunjaya T S. Singularity-free path planning for the Stewart platform manipulator. Mechanism and Machine Theory, 1998, 33(6): 711-725.
[35] Merlet J P. Jacobian, manipulability, condition number, and accuracy of parallel robots. Journal of Mechanical Design, Transactions of the ASME, 2006, 128(1): 199-206.
[36] Gosselin C, Angeles J. Optimum Kinematic Design of a Planar Three-degree-of-freedom Parallel Manipulator. Journal of Mechanisms, Transmissions, and Automation in Design, 1988, 110(1): 35-41.
[37] Kim S G, Ryu J. New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators. IEEE Transactions on Robotics and Automation, 2003, 19(4): 731-737.
[38]孙立宁.机构影响系数和并联机器人雅克比矩阵的研究.哈尔滨工业大学学报, 2002, 34(6): 810-814.
[39]李铁民,郑浩峻,汪劲松等.并联机床不同位形下的运动精度评价指标.机械工程学报, 2002, 38(9): 101-105.
[40]黄田,汪劲松, Whitehouse D J. Stewart并联机器人局部灵活度与各向同性条件解析.机械工程学报, 1999, 35(5): 41-46.
[41]高艳蕾,李琳.大载荷主动隔振平台技术综述及其性能评定的探讨.航天器环境工程, 2008, 25(1): 44-53.
[42] Zhuang H Q. Self-calibration of parallel mechanisms with a case study on Stewart platforms. IEEE Transactions on Robotics and Automation, 1997, 13(3): 387-397.
[43] Kim H S. Kinematic calibration of a Cartesian Parallel Manipulator. International Journal of Control Automation and Systems, 2005, 3(3): 453-460.
[44] Iurascu C C, Park F C. Geometric algorithms for kinematic calibration of robots containing closed loops. Journal of Mechanical Design, Transactions of the ASME, 2003, 125(1): 23-32.
[45] Chiu Y J, Perng M H. Self-calibration of a general hexapod manipulator with enhanced precision in 5-DOF motions. Mechanism and Machine Theory, 2004, 39(1): 1-23.
[46]彭斌彬,高峰.并联机器人的标定建模.机械工程学报, 2005, 41(8): 132-135.
[47]刘文涛,唐德威,王知行. Stewart平台机构标定的鸡尾酒法.机械工程学报, 2004, 40(12): 48-52.
[48] Nguyen C, Antrazi S S, Zhou Z L, et al. Adaptive control of a Stewart platform-based manipulator. Journal of Robotic Systems, 1993, 10(5): 657-687.
[49] Lbret G, Liu K, Lewis F L. Dynamic analysis and control of a Stewart platform manipulator. Journal of Robotic Systems, 1993, 10(5): 629-655.
[50] Lu Y, Zhu W, Ren G. Feedback control of a cable-driven Gough-Stewart platform. IEEE Transactions on Robotics, 2006, 22(1): 198-202.
[51] Lee S H, Song J B, Choi W C, et al. Position control of a Stewart platform using inverse dynamics control with approximate dynamics. Mechatronics, 2003, 13(6): 605-619.
[52] Kim D H, Kang J Y, Lee K I. Robust tracking control design for a 6 DOF parallel manipulator. Journal of Robotic Systems, 2000, 17(10): 527-547.
[53] Geng Z, Haynes L S. Six degree-of-freedom active vibration control using the Stewart platforms. IEEE Transactions on Control Systems Technology, 1994, 2(1): 45-53.
[54]张辉,王启明,汪劲松等. Stewart平台机构的减振控制插补策略.清华大学学报(自然科学版), 2002, 42(11): 1473-1476.
[55]刘胜,李晚龙,杜延春.并联机器人动力学与控制仿真研究.弹箭与制导学报, 2005, 25(4): 928-930.
[56]孔德庆,黄田,张洪波等.考虑交流伺服电机动力学特性的并联机构鲁棒轨迹跟踪控制方法研究.自动化学报, 2007, (01): 37-43.
[57]程源,任革学,戴诗亮.柔性支撑Stewart平台动力学与控制仿真.清华大学学报(自然科学版), 2003, 43(11): 1519-1522.
[58]徐东光,董彦良,吴盛林等.液压驱动Stewart平台非线性自适应控制器设计.机械工程学报, 2007, 43(3): 223-228.
[59] Merlet J P. Parallel Robots. Dordrecht, The Netherland: Kluwer Academic Publisher, 2000.
[60] Gosselin C M, Merlet J P. The direct kinematics of planar parallel manipulators - Special architectures and number of solutions. Mechanism and Machine Theory, 1994, 29(8): 1083-1097.
[61] Merlet J P. Solving the forward kinematics of a gough-type parallel manipulator with interval analysis. International Journal of Robotics Research, 2004, 23(3): 221-235.
[62] Raghavan M. The Stewart Platform of General Geometry Has 40 Configurations. Jouranal of Mechanical Design, 1993, 115(2): 277-282.
[63] Morgan A. Solving Polynomial Systems using Continuation for Engineering and Scientific Problems. Prentice-Hall, Inc, 1987.
[64]陈学生,陈在礼,孔民秀.并联机器人研究的进展与现状.机器人, 2002, 24(5): 464-470.
[65] Tsai M S, Shiau T N, Tsai Y J, et al. Direct kinematic analysis of a 3-PRS parallel mechanism. Mechanism and Machine Theory, 2003, 38(1): 71-83.
[66]王奇志,张祥德,崔建江等.关于一类3-3型并联机器人运动学正解问题的研究.控制与决策, 1998, 13(S1): 459-464.
[67]王奇志,张祥德,徐心和.一类3-6 Stewart平台的机构位置正解.机械科学与技术,1999, 18(2): 242-245.
[68]李树军,王玥.一种求解6-3构型并联机器人机构位置正解的逼近算法.机械科学与技术, 2002, 21(1): 81-8285.
[69]苏海军,廖启征,梁崇高.一种5-5型台体并联机器人机构的位置正解.北京邮电大学学报, 1997, 20(3): 1-8.
[70]文福安,李静宜,梁崇高.一般6-6型平台并联机器人机构位置正解.机械科学与技术, 1993, 9(4): 41-47.
[71] Parikh P J, Lam S S. A hybrid strategy to solve the forward kinematics problem in parallel manipulators. IEEE Transactions on Robotics, 2005, 21(1): 18-25.
[72] Yee C S, Lim K B. Forward kinematics solution of Stewart Platform using Neural Networks. Neurocomputing, 1997, 16(4): 333-349.
[73] Wang Y. A direct numerical solution to forward kinematics of general Stewart-Gough platforms. Robotica, 2007, 25(1): 121-128.
[74]王洪波,黄真.六自由度并联机器人的拉格朗日方程.机器人, 1990, 90(1): 23-26.
[75] Pang H, Shaingpoor M. Inverse dynamics of a parallel manipulator. Journal of Robotic System, 1994, 11(8): 693-702.
[76]白志富,韩先国,陈五一.基于Lagrange方程三自由度并联机构动力学研究.北京航空航天大学学报, 2004, 30(1): 51-54.
[77] Liu M J, Li C X, Li C N. Dynamics analysis of the Gough-Stewart platform manipulator. IEEE Transactions on Robotics and Automation, 2000, 18(1): 94-98.
[78] Wang J G, Gosselin C M. A new approach for the dynamic analysis of parallel manipulators. Multibody System Dynamics, 1998, (2): 317-334.
[79]李鹭扬,吴洪涛,朱剑英. Gough-Stewart平台高效动力学建模研究.机械科学与技术, 2005, 24(8): 887-889.
[80]李兵,王知行,李建生.基于凯恩方程的新型并联机床动力学研究.机械科学与技术, 1999, 18(1): 41-43.
[81] Fichter E F. A Stewart platform-based manipulator - General theory and practical construction. International Journal of Robotics Research, 1986, 5(2): 157-182.
[82] Yoshikawa T. Manipulability of Robotic Mechanisms. International Journal of Robotics Research, 1985, 4(2): 3-9.
[83] Salisbury J K, Craig J J. Articulated hands: force control and kinematic issues. International Journal of Robotics Research, 1982, 1(1): 4-17.
[84] Angeles J, Lopez-Cajun C S. Dexterity index of serial-type robotic manipulators. Trends and Developments in Mechanisms, Machines, and Robotics - 1988. Kissimmee, FL, USA: Publ by American Soc of Mechanical Engineers (ASME), New York, NY, USA, 1988. 79-84.
[85] Asada H, Cro G J. Kinematic and static characterization of wrist joints and their optimal design. 1985 IEEE International Conference on Robotics and Automation (Cat. No. 85CH2152-7), 25-28 March 1985. St. Louis, MO, USA: IEEE Comput. Soc. Press, 1984. 244-250.
[86] Klein C A, Blaho B E. Dexterity measures for the design and control of kinematically redundant manipulators. International Journal of Robotics Research, 1987, 6(2): 72-83.
[87] Byun Y K, Cho H S. Analysis of a novel 6-DOF, 3-PPSP parallel manipulator. International Journal of Robotics Research, 1997, 16(6): 859-872.
[88] Lacagnina M, Russo S, Sinatra R. A novel parallel manipulator architecture for manufacturingapplications. Multibody System Dynamics, 2003, 10(2): 219-238.
[89] Chablat D, Wenger P. Architecture optimization of a 3-DoF parallel mechanism for machining applications: the Orthoglide. IEEE Transactions on Robotics and Automation, 2003, 19(3): 403-410.
[90] Wu Y N, Gosselin C. Design of reactionless 3-DOF and 6-DOF parallel manipulators using parallelepiped mechanisms. IEEE Transactions on Robotics, 2005, 21(5): 821-833.
[91] Denkena B, Heimann B, Abdellatif H, et al. Design, Modeling and Advanced Control of the Innovative Parallel. Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 2005.
[92] Pashkevich A, Chablat D, Wenger P. Kinematics and workspace analysis of a three-axis parallel manipulator: the Orthoglide. Robotica, 2006, 24(Part 1): 39-49.
[93] Liu X J, Wang J, Zheng H J. Optimum design of the 5R symmetrical parallel manipulator with a surrounded and good-condition workspace. Robotics and Autonomous Systems, 2006, 54(3): 221-233.
[94] Gao F, Peng B B, Zhao H, et al. A novel 5-DOF fully parallel kinematic machine tool. International Journal of Advanced Manufacturing Technology, 2006, 31(1-2): 201-207.
[95] Kong X W, Gosselin C M. Type synthesis of 4-DOF SP-equivalent parallel manipulators: A virtual chain approach. Mechanism and Machine Theory, 2006, 41(11): 1306-1319.
[96] Jin Y, Chen I M, Yang G. Kinematic design of a 6-DOF parallel manipulator with decoupled translation and rotation. IEEE Transactions on Robotics, 2006, 22(3): 545-551.
[97] Pittens K H, Podhorodeski R P. A Family of Stewart Platforms with Optimal Dexterity. Journal of Robotic Systems, 1993, 10(4): 463-479.
[98] Bhattacharya S, Hatwal H, Ghosh A. On the optimum design of Stewart platform type parallel manipulators. Robotica, 1995, 13(Part 2): 133-140.
[99] Gosselin C, Angeles J. A global performance index for the kinematic optimization of robotic manipulator. Journal of Mechanical Design, 1991, 113(3): 220-226.
[100] Gosselin C, Angeles J. The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator. Journal of Mechanisms, Transmissions, and Automation in Design, 1989, 111(2): 202-207.
[101] Stoughton R S, Arai T. A Modified Stewart Platform Manipulator with Improved Dexterity. IEEE Transactions on Robtics and Automation, 1993, 9(2): 166-173.
[102] Zanganeh K E, Angeles J. Kinematic isotropy and the optimum design of parallel manipulators. International Journal of Robotics Research, 1997, 16(2): 185-197.
[103] Kim S G, Ryu J. Optimal design of 6 DOF parallel manipulators using three point coordinates. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 29-Nov 3 2001. Maui, HI: Institute of Electrical and Electronics Engineers Inc., 2001. 2178-2183.
[104] Kong X W, Gosselin C M. Type synthesis of 3T1R 4-DOF parallel manipulators based on screw theory. IEEE Transactions on Robotics and Automation, 2004, 20(2): 181-190.
[105] Para//MIC - the Parallel Mecchanisms Information Center. http://www.parallemic.org/, 2007.8.25.
[106] Clavel R. Conception d'un robot parallèle rapideà4 degrés de liberté, , Lausanne.EPFL,Switzerland Ph.D. Thesis, 1991.
[107] Gosselin C. The optimum design of robotic manipulators using dexterity indices. Journal of Robotics and Automonous Systems, 1992, 9(4): 213-216.
[108] Lipkin H, Duffy J. Hybrid Twist and Wrench Control for a Robotic Manipulator. Journal of Mechanisms, Transmissions, and Automation in Design, 1988, 110(2): 138-144.
[109] Doty K L, Melchiorri C, Bonivento C. A theory of generalized inverses applied to robotics. International Journal of Robotics Research, 1993, 12(1): 1-19.
[110] Doty K L, Melchiorri C, Schwartz E M, et al. Robot manipulabilty. IEEE Transactions on Robotics and Automation, 1995, 11(6): 462-468.
[111] Gosselin C M. Optimum design of robotic manipulators using dexterity indices. Journal of Robotics and Autonomous Systems, 1992, 9(4): 213-226.
[112] Pond G, Carretero J A. Formulating Jacobian matrices for the dexterity analysis of parallel manipulators. Mechanism and Machine Theory, 2006, 41(12): 1505-1519.
[113] Everett L J, Driels M, Mooring B W. Kinematic modeling for robot calilbration. Proceedings - 1987 IEEE International Conference on Robotics and Automation. Raleigh, NC, USA: IEEE, New York, NY, USA, 1987. 183-189.
[114] Judd R P, Knasinski A B. Technique to calibrate industrial robots with experimental verification. IEEE Transactions on Robotics and Automation, 1990, 6(1): 20-30.
[115] Mooring B W, May D C, Schulte M S. Modeling and analysis of a manipulator joint driven through a worm gear transmission. Advances in Design Automation - 1989, Sep 17-21 1989. Montreal, Que, Can: Publ by American Soc of Mechanical Engineers (ASME), New York, NY, USA, 1989. 67-73.
[116] van D C, Carretero J A. Calibration of the 3-PRS parallel manipulator using a motion capture system. Transactions of the Canadian Society for Mechanical Engineering, 2005, 29(4): 645-654.
[117] Chai K S, Young K, Tuersley I. A practical calibration process using partial information for a commercial Stewart platform. Robotica, 2002, 20(3): 315-322.
[118]张曙, (德)海舍尔.并联运动机床.北京:机械工业出版社, 2003.
[119] Wu D, Gu H. Adaptive Sliding Control of Six-DOF Flight Simulator Motion Platform. Chinese Journal of Aeronautics, 2007, (5): 425-433.
[120] Ren G, Lu, Qiuhai, Hu N, Nan R, et al. On vibration control with Stewart parallel mechanism. Mechatronics, 2004, 14(1): 1-13.
[121]吴博,吴盛林,赵克定.并联机器人控制策略的现状和发展趋势.机床与液压, 2005, (10): 5-9.
[122] Preumont A, Horodinca M, Romanescu I, et al. A six-axis single-stage active vibration isolator based on Stewart platform. Journal of Sound and Vibration, 2007, 300(3-5): 644-661.
[123]苏玉鑫.大射电望远镜精调Stewart平台的优化、分析与控制.西安:西安电子科技大学博士学位论文, 2002.
[124] Su Y X, Duan B Y, Zheng C H, et al. Disturbance-rejection high-precision motion control of a stewart platform. IEEE Transactions on Control Systems Technology, 2004, 12(3): 364-374.
[125] Graf R, Vierling R, Dillmann R. Flexible controller for a Stewart platform. International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES, 1998, 2: 52-59.
[126] Huang C I, Fu L C. Adaptive backstepping tracking control of the Stewart platform. 2004 43rd IEEE Conference on Decision and Control (CDC), Dec 14-17 2004. Nassau, Bahamas: Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ 08855-1331, United States, 2004. 5228-5233.
[127] Lin L C, Tsay M U. Modeling and control of micropositioning systems using Stewartplatforms. Journal of Robotic Systems, 2000, 17(1): 17-52.
[128]黄真,高峰.从并联机器人研究看知识创新和技术创新.机械工程学报, 2000, 36(2): 18-20.
[129] Hunt K H. Structural Kinematics of In-parallel-actuated Robot-arms. Journal of Mechanisms, Transmissions, and Automation in Design, 1983, 105(4): 705-712.
[130] Clavel R. Device for the Movement and Positioning of an Element in Space[P]. USA: December 11, 1990.
[131] Tsai L W, Stamper R. A Parallel Manipulator with Only Translational Degrees of Freedom. ASME 1996 Design Eng. Technical Conf. Irvine, CA: 1996. DETC96-MECH-1152.
[132] Kang B, Mills J K. Vibration control of a planar parallel manipulator using piezoelectric actuators. Journal of Intelligent & Robotic Systems, 2005, 42(1): 51-70.
[133] Albus J S, Bostelman R V, Dagalakis N G. The NIST Robocrane. Journal of Robotic System, 1993, 10(5): 709-724.
[134] Robocrane Project. www.isd.mel.nist.gov/projects/robocrane/, 2008-8-15.
[135] Carlson B, Bauwens L, Belostotski L, et al. Large adaptive reflector: A 200-m diameter, wideband, cm-m wave radio telescope. Radio Telescopes, Mar 27-Mar 30 2000. Munich, Ger: Society of Photo-Optical Instrumentation Engineers, Bellingham, WA, USA, 2000. 33-44.
[136]仇原鹰.大射电望远镜馈源支撑与指向跟踪系统的力学模型分析及实验研究.西安:西安电子科技大学博士学位论文, 2002.
[137]西安电子科技大学项目组. FAST预研究-大射电望远镜馈源支撑与指向跟踪系统仿真与实验研究总结报告[R].西安: 2002.
[138]汤奥斐.大跨度柔索驱动并联机器人关键问题分析及模型实验研究.西安:西安电子科技大学博士学位论文, 2007.
[139] Lin J, Huang Z Z. A hierarchical fuzzy approach to supervisory control of robot manipulators with oscillatory bases. Mechatronics, 2007, 17(10): 589-600.
[140] Lin J, Huang Z Z, Huang P H. An active damping control of robot manipulators with oscillatory bases by singular perturbation approach. Journal of Sound and Vibration, 2007, 304(1-2): 345-360.
[141] Lin J, Huang Z Z. A novel PID control parameters tuning approach for robot manipulators mounted on oscillatory bases. Robotica, 2007, 25(4): 467-477.
[142] Lew J Y, Moon S M. A simple active damping control for compliant base manipulators. IEEE/ASME Transactions on Mechatronics, 2001, 6(3): 305-310.
[143] George L E. Active vibration control of a flexible base manipulator.Georgia Institute of TechnologyPh.D学位论文, 2002.
[144] Sharon A, Hogan N, Hardt D E. Macro/micro manipulator: An improved architecture for robot control. Robotics and Computer-Integrated Manufacturing, 1993, 10(3): 209-222.
[145] Xie H P, Kalaycioglu S, Patel R V. Control of residual vibrations in the Space Shuttle Remote Manipulator System. International Journal of Robotics and Automation, 2000, 15(2): 68-77.
[146] Ballhaus W L, Rock S M. End-point control of a two-link flexible robotic manipulator with a mini-manipulator: initial experiments. Proceedings of the 1992 American Control Conference. Chicago, IL, USA: Publ by American Automatic Control Council, Green Valley, AZ, USA, 1992. 2510-2514.
[147] Torres M A, Dubowsky S, Pisoni A C. Vibration control of deployment structures' long-reach space manipulators: the P-PED method. Proceedings of the 1996 13th IEEE InternationalConference on Robotics and Automation. Part 3 (of 4). Minneapolis, MN, USA: IEEE, Piscataway, NJ, USA, 1996. 2498-2504.
[148] Van V J, Sharf I. Frequency matching algorithm for active damping of macro-micro manipulator vibrations. Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 2 (of 3). Victoria, Can: IEEE, Piscataway, NJ, USA, 1998. 782-787.
[149] Book W J, Lee S H. Vibration control of a large flexible manipulator by a small robotic arm. Proceedings of the 1989 American Control Conference. Pittsburgh, PA, USA: Publ by IEEE, Piscataway, NJ, USA, 1989. 1377-1380.
[150] Sharf I. Active damping of a large flexible manipulator with a short-reach robot. Proceedings of the 1995 American Control Conference. Part 5 (of 6). Seattle, WA, USA: 1995. 3329-3333.
[151] Nenchev D N, Yoshida K, Vichitkulsawat P, et al. Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system. Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4). Albuquerque, NM, USA: IEEE, Piscataway, NJ, USA, 1997. 2528-2534.
[152] Magee D P, Book W J. Filtering micro-manipulator wrist commands to prevent flexible base motion. Proceedings of the 1995 American Control Conference. Part 1 (of 6). Seattle, WA, USA: 1995. 924-928.
[153] Lew J Y, Moon S M. Acceleration feedback control of compliant base manipulators. Proceedings of the 1999 American Control Conference (99ACC). San Diego, CA, USA: Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ, USA, 1999. 1955-1959.
[154]郑堤,唐可洪.机电一体化设计基础.北京:机械工业出版社, 1997.
[155]周立峰,巢来春.伺服系统基本原理.(第一分册).北京:国防工业出版社, 1980.
[156]王伟,谢海波,傅新等.一种基于固有频率分析的液压6自由度并联机构参数优化方法.机械工程学报, 2006, 42(3): 77-82.
[157]邢继峰,彭利坤,朱石坚等. Stewart平台的综合谐振频率研究.机械科学与技术, 2007, 26(1): 84-87.
[158] Geng Z, Haynes L S. Multiple degree-of-freedom active vibration control using a Stewart platform. Third International Conference on Adaptive Structures, Nov 9-11 1992. San Diego, CA, USA: Publ by Society of Photo-Optical Instrumentation Engineers, Bellingham, WA, USA, 1993. 499-513.
[159] Geng Z, Haynes L S. Six-degree-of-freedom active vibration isolation using a Stewart platform mechanism. Journal of Robotic Systems, 1993, 10(5): 725-744.
[160] Franklin G F, Powell J D, Emami-Naeini A. Feedback Control of Dynamic Systems, Fourth Edition. New York: Prentice Hall, 2002.
[161]吴麒,王诗宓主编.自动控制原理(第二版).北京:清华大学出版社, 2006.
[162] Craig J J. Introduction to Robotics: Mechanics and Control. MA. Third edition ed. MA: Prentice Hall, 2004.
[163]蔡自兴.机器人学(第二版).北京:清华大学出版社, 2000.
[164] Dasgupta B, Mruthyunjaya T S. Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator. Mechanism & Machine Theory, 1998, 33(8): 1135-1152.
[165]龚振邦,陈振华,钱晋武.机器人机械设计.北京:电子工业出版社, 1995.
[166]刘金琨.先进PID控制MATLAB仿真(第2版).北京:电子工业出版社, 2004.
[167]杨耕,罗应立.电机与运动控制系统.北京:清华大学出版社, 2006.
[168]陈国良,王熙法,庄镇泉.遗传算法及其应用.北京:人民邮电出版社, 1996.
[169]王小平,曹立明.遗传算法-理论、应用与软件实现.西安:西安交通大学出版社, 2002.
[170]玄光男,程润伟.遗传算法与工程优化.北京:清华大学出版社, 2004.
[171] Gen M, Cheng R. Genetic algorithm and engineering design. New York: John Wiley, 1997.
[172] Holland J H. Adaptation in nature and artificial systems. Cambridge, MA: MIT Press, 1992.
[173] Su Y X, Duan B Y, Peng B, et al. A real-coded genetic optimal kinematic design of a Stewart fine tuning platform for a large radio telescope. Journal of Robotic Systems, 2001, 18(9): 507-516.
[174] Meng Y, Li W, Guo W, et al. Temporal texture synthesis algorithm using genetic algorithm. Journal of Computational Information Systems, 2006, 2(2): 847-853.
[175] Yoshikawa M, Terai H. Genetic algorithm engine for scheduling problems. WSEAS Transactions on Circuits and Systems, 2006, 5(3): 397-402.
[176] Cai Z S, Hong B R, Huang Q C, et al. Improved scan matching using genetic algorithm. Journal of Computational Information Systems, 2005, 1(4): 943-949.
[177] Kokkinis T, Stoughton R. Optimal parallel actuation linkage for 3 DOF elbow manipulators. Trends and Developments in Mechanisms, Machines, and Robotics - 1988. Kissimmee, FL, USA: Publ by American Soc of Mechanical Engineers (ASME), New York, NY, USA, 1988. 465-472.
[178] Ma O, Angeles J. Optimum architecture design of platform manipulators. 91 ICAR. Fifth International Conference on Advanced Robotics. Robots in Unstructured Environments (Cat. No.91TH0376-4), 19-22 June 1991. Pisa, Italy: IEEE, 1991. 1130-1135.
[179] Stocco L J, Salcudean S E, Sassani F. On the use of scaling matrices for task-specific robot design. IEEE Transactions on Robotics and Automation, 1999, 15(5): 958-965.
[180] Lee J, Duffy J, Hunt K. A pratical quality index based on the octahedral manipulator. International Journal of Robotics Research, 1998, 17(10): 1081-1090.
[181] Ben-Horin R, Shoham M, Dayan J. On the isotropic configurations of a six-degrees-of-freedom parallel manipulator. IFAC Intelligent Manufacturing Systems. Seoul, Korea: 1997.
[182]王晓敏.多目标最优化和群体决策的若干理论和方法.上海:上海交通大学博士学位论文, 1999.
[183] SynqNet技术. http://www.danahermotion.com.cn/, 2007.12.10.
[184]孙立宁,于凌涛,杜志江等.并联机器人胡克铰工作空间的研究与应用.机械工程学报, 2006, 42(8): 120-124.
[185]于晖,孙立宁,张秀峰等.虎克铰工作空间研究及其在6-HTRT并联机器人中的应用.中国机械工程, 2002, 13(21): 1830-1835.
[186]高金莲,韩英强,李波等.并联机器人球铰链的仿真设计.机械设计, 2007, 24(2): 53-55.
[187] Han J, Tioh R, Nishiyama S. A muti-optimum design of a two-piece aluminum beverage bottle considering tactile sensation of heat. Proceeding of the 3rd China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems. Kanazawa, Japan: 2004. 353~358.
[188] Srinivas M, Patnaik L M. Adaptive probabilities of crossover and mutation in genetic algorithms. IEEE Transactions on Systems, Man and Cybernetics, 1994, 24(4): 656-667.
[189] Zhang J, Chung H S, Hu B J. Adaptive probabilities of crossover and mutation in genetic algorithms based on clustering technique. Proceedings of the 2004 Congress on Evolutionary Computation, CEC2004. Portland, OR, United States: Institute of Electrical and ElectronicsEngineers Inc., New York, United States, 2004. 2280-2287.
[190] Zhu Y F, Dai C H, Chen W R, et al. Adaptive probabilities of crossover and mutation in genetic algorithms based on cloud generators. Journal of Computational Information Systems, 2005, 1(4): 671-678.
[191]彭昭旺,杨洪柏,钟廷修.实值编码行星齿轮传动优化.上海交通大学学报, 1999, 33(7): 533-535.
[192]段学超,仇原鹰,段宝岩.大射电望远镜精调Stewart平台工作空间研究.电子机械工程, 2004, 20(5): 55-58.
[193] Wang J, Masonry O. On the accuracy of a Stewart platform. Part I. The effect of manufacturing tolerances. Proceedings of the IEEE International Conference on Robotics and Automation. Atlanta, GA, USA: Publ by IEEE, Piscataway, NJ, USA, 1993. 114-120.
[194]段学超,仇原鹰,段宝岩.大射电望远镜精调Stewart平台结构刚度分析.机械科学与技术, 2006, 25(1): 50-52.
[195] Weck M, Staimer D. Parallel kinematic machine tools - Current state and future potentials. CIRP Annals - Manufacturing Technology, 2002, 51(2): 671-683.
[196] Zaeh M F, Baudisch T. Simulation environment for designing the dynamic motion behaviour of the mechatronic system machine tool. Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 2003, 217(7): 1031-1035.
[197]李佳.数控机床及应用.北京:清华大学出版社, 2001.
[198] Yusuf. Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations, and CNC Design. Cambridge: Cambridge University, 2000.
[199] Motion Enginneering Incorporation. MEI Technical Support(03.04.00).
[200] http://www.synqnet.org/. 2008.5.
[201]普罗西斯.北京博彦科技发展有限责任公司译. MFC Windows程序设计.北京:清华大学出版社, 2007.
[202] Zhang D, Wang L H, Esmailzadeh E. PKM capabilities and applications exploration in a collaborative virtual environment. Robotics and Computer-integrated Manufacturing, 2006, 22(4): 384-395.
[203] Wiens G J, Shamblin S A, Oh Y H. Characterization of PKM dynamics in terms of system identification. Proceedings of the Instiution of Mechanical Engineers Part K-Journal of Multi-body Dynamics, 2002, 216(1): 59-72.
[204]周宏仁.机动目标跟踪.北京:国防工业出版社, 1991.
[205] Duh F B, Lin C T. Tracking a Maneuvering Target Using Neural Fuzzy Network. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 2004, 34(1): 16-33.
[206]保宏,段宝岩,陈光达.具有慢速时滞机动目标三维跟踪.控制理论与应用, 2006, 23(04): 526-530.
[207]何玉庆,韩建达.基于卡尔曼滤波及牛顿预测的角加速度估计方法试验研究.机械工程学报, 2006, 42(2): 226-232.
[208] Han J D, He Y Q, Xu W L. Angular acceleration estimation and feedback control: An experimental investigation. Mechatronics, 2007, 17(9): 524-532.
[209]韩京清.从PID技术到“自抗扰控制”技术.控制工程, 2002, 9(3): 13-18.
[210]韩京清.自抗扰控制技术.前沿科学, 2007, 1(1): 24-31.
[211]袁亚湘,孙文瑜.最优化理论与方法.北京:科学出版社, 2003.
[212]朱文白. FAST望远镜馈源运动的描述[R].北京:国家天文观测中心MEMOS of the FAST,1999.
[213] Shin J H, Lee C Y, Lee J J. Adaptive robust control of underactuated robot manipulators. Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97. Tokyo, Jpn: IEEE, Piscataway, NJ, USA, 1997. 95.
[214] George L E, Book W J. Inertial vibration damping control of a flexible base manipulator. IEEE/ASME Transactions on Mechatronics, 2003, 8(2): 268-271.
[215] Brandt R D, Lin F. Supervised learning in neural networks without feedback network. IEEE International Symposium on Intelligent Control, 1996, : 86-90.
[216] Lin F, Brandt R D, Saikalis G. Self-tuning of PID controllers by adaptive interaction. American Control Conference. Chicago: IEEE, 2000. 3676-3680.
[217]邹俊,傅新,杨华勇等.自适应交互PID在液压伺服系统中的应用.机械工程学报, 2006, 42(11): 179-183.
[218] Ang K H, Chong G, Li Y. PID control system analysis, design, and technology. IEEE Transactions on Control Systems Technology, 2005, 13(4): 559-576.
[219] Ioannidis S, Tsourveloudis N, Valavanis K. Fuzzy supervisory control of manufacturing systems. IEEE Transactions on Robotics and Automation, 2004, 20(3): 379-389.
[220]范成建,熊光明,周明飞.虚拟样机软件MSC.ADAMS应用与提高.北京:机械工程出版社, 2006.
[221]郑建荣. ADAMS虚拟样机技术入门与提高.北京:机械工业出版社, 2001.
[2]南仁东. 500m球反射面射电望远镜FAST.中国科学G辑, 2005, 35(5): 449-466.
[3]段宝岩.天线结构分析、优化与测量.西安:西安电子科技大学出版社, 1998.
[4] Castleberg P A, Xilouris K M. Arecibo observatory. IEEE Potentials, 1997, 16(3): 33-35.
[5] Love A W. Arecibo Observatory 40th Anniversary celebration. IEEE Potentials, 2004, 23(2): 41-44.
[6] The Arecibo Observatory. http://www.naic.edu/public/descrip_eng.htm, 2007.08.25.
[7]段宝岩,苏玉鑫,仇原鹰等.新一代大射电望远镜机电光一体化设计研究.中国机械工程, 1999, 10(9): 1002-1004.
[8]雷源忠.我科学家对新一代大射电望远镜研究取得重要进展.中国机械工程, 1998, 9(11): 87.
[9] Duan B Y. A new design project of the line feed structure for large radio telescope and its nonlinear dynamic analysis. Mechatronics, 1999, 9(1): 53-64.
[10] Duan B Y, Zhang J B. Some new result about the integrated design of mechanical electronic, optic and automatic control technologies for next generation large radio telescopes. Invited paper at the Inter. Conf. of LT Workshop. Sydney, Australia, Dec. 15-18: 1997.
[11]段宝岩.柔性天线结构分析、优化与精密控制.北京:科学出版社, 2005.
[12]杨灏泉.飞行模拟器六自由度运动系统及其液压伺服系统的研究.哈尔滨:哈尔滨工业大学博士学位论文, 2002.
[13] Kulkarni N V, Ippolito C, Krishnakumar K. Dynamic-inversion-based control of a docking mechanism. AIAA Guidance, Navigation, and Control Conference 2006. Keystone, CO, United States: American Institute of Aeronautics and Astronautics Inc., Reston, VA 20191, United States, 2006. 105-114.
[14] Girone M, Burdea G, Bouzit M. A Stewart Platform-Based System for Ankle. Autonomous Robots, 2005, 10(2): 203-212.
[15] Ting Y, Chen Y S, Jar H C. Modeling and control for a Gough-Stewart platform CNC machine. Journal of Robotic Systems, 2004, 21(11): 609-623.
[16] Bonev I. The True Origins of Parallel Robots. www.parallemic.org/Reviews/Review007.html, 2007.08.12.
[17] Gough, V E, Whitehall S G. Universal tire test machine. Proceedings 9th Int. Technical Congress FISITA, 1962, : 117-135.
[18] Stewart D. A platform with six degrees of freedom. Proceedings of the Institution of Mechanical Engineers, 1965, 180(5): 371-386.
[19] Dasgupta B, Mruthyunjaya T S. The Stewart platform manipulator: a review. Mechanism and Machine Theory, 2000, 35(1): 15-40.
[20]段广洪,李铁民.并联机器的起源和发展.世界制造技术与装备市场, 2006, (1): 41-48.
[21] Hunt K H. Kinematic geometry of mechanisms. Oxford: Oxford University Press, 1978.
[22]黄真,孔令富,方跃法.并联机器人机构学理论及控制.北京:机械工业出版社, 1997.
[23] Nguyen C C, Pooran F J. Dynamical analysis of 6 DOF CKCM robot end-effector for dual-arm telerobot systems Systems. Journal of Robotics and Automation, 1989, 5: 377–394.
[24] Nguyen C C, Antrazi S S, Zhou Z L. Experimental study of motion control and trajectory planning for a Stewart platform robot manipulator. IEEE International Conference on Roboticsand Automation. Sacramento,California: 1991. 1873-1878.
[25]马晓丽,陈艾华,张雪莲等.并联机器人机构的创新与应用研究进展.机床与液压, 2007, 35(2): 235-238.
[26]汪劲松,黄田.并联机床——机床行业面临的机遇与挑战.中国机械工程, 1999, 10(10): 1103-1107.
[27] Dasgupta B, Mruthyunjaya T S. Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach. Mechanism and Machine Theory, 1998, 33(7): 993-1012.
[28] Dasgupta B, Mruthyunjaya T S. A Newton-Euler formulation for the inverse dynamics of the stewart platform manipulator. Mechanism and Machine Theory, 1998, 33(8): 1135-1152.
[29] Fu S W, Yao Y, Wu Y Q. Comments on "A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator" by B. Dasgupta and T.S. Mruthyunjaya [Mech. Mach. Theory 33 (1998) 1135-1152]. Mechanism and Machine Theory, 2007, 42(12): 1668-1671.
[30]冯志友,李永刚,张策.并联机器人机构运动与动力分析研究现状及展望.中国机械工程, 2006, 17(9): 979-984.
[31] Zanganeh K E, Sinatra R, Angeles J. Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs. ROBOTICA, 1997, 15(Part 4): 385-394.
[32] Tsai L W. Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work. Journal of Mechanical Design, 2000, 122(1): 3-9.
[33] Zhang C D, Song S M. An efficient method for the inverse dynamics of manipulators based on the virtual work principle. Journal of Robotic Systems, 1993, 10(5): 605-627.
[34] Dasgupta B, Mruthyunjaya T S. Singularity-free path planning for the Stewart platform manipulator. Mechanism and Machine Theory, 1998, 33(6): 711-725.
[35] Merlet J P. Jacobian, manipulability, condition number, and accuracy of parallel robots. Journal of Mechanical Design, Transactions of the ASME, 2006, 128(1): 199-206.
[36] Gosselin C, Angeles J. Optimum Kinematic Design of a Planar Three-degree-of-freedom Parallel Manipulator. Journal of Mechanisms, Transmissions, and Automation in Design, 1988, 110(1): 35-41.
[37] Kim S G, Ryu J. New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators. IEEE Transactions on Robotics and Automation, 2003, 19(4): 731-737.
[38]孙立宁.机构影响系数和并联机器人雅克比矩阵的研究.哈尔滨工业大学学报, 2002, 34(6): 810-814.
[39]李铁民,郑浩峻,汪劲松等.并联机床不同位形下的运动精度评价指标.机械工程学报, 2002, 38(9): 101-105.
[40]黄田,汪劲松, Whitehouse D J. Stewart并联机器人局部灵活度与各向同性条件解析.机械工程学报, 1999, 35(5): 41-46.
[41]高艳蕾,李琳.大载荷主动隔振平台技术综述及其性能评定的探讨.航天器环境工程, 2008, 25(1): 44-53.
[42] Zhuang H Q. Self-calibration of parallel mechanisms with a case study on Stewart platforms. IEEE Transactions on Robotics and Automation, 1997, 13(3): 387-397.
[43] Kim H S. Kinematic calibration of a Cartesian Parallel Manipulator. International Journal of Control Automation and Systems, 2005, 3(3): 453-460.
[44] Iurascu C C, Park F C. Geometric algorithms for kinematic calibration of robots containing closed loops. Journal of Mechanical Design, Transactions of the ASME, 2003, 125(1): 23-32.
[45] Chiu Y J, Perng M H. Self-calibration of a general hexapod manipulator with enhanced precision in 5-DOF motions. Mechanism and Machine Theory, 2004, 39(1): 1-23.
[46]彭斌彬,高峰.并联机器人的标定建模.机械工程学报, 2005, 41(8): 132-135.
[47]刘文涛,唐德威,王知行. Stewart平台机构标定的鸡尾酒法.机械工程学报, 2004, 40(12): 48-52.
[48] Nguyen C, Antrazi S S, Zhou Z L, et al. Adaptive control of a Stewart platform-based manipulator. Journal of Robotic Systems, 1993, 10(5): 657-687.
[49] Lbret G, Liu K, Lewis F L. Dynamic analysis and control of a Stewart platform manipulator. Journal of Robotic Systems, 1993, 10(5): 629-655.
[50] Lu Y, Zhu W, Ren G. Feedback control of a cable-driven Gough-Stewart platform. IEEE Transactions on Robotics, 2006, 22(1): 198-202.
[51] Lee S H, Song J B, Choi W C, et al. Position control of a Stewart platform using inverse dynamics control with approximate dynamics. Mechatronics, 2003, 13(6): 605-619.
[52] Kim D H, Kang J Y, Lee K I. Robust tracking control design for a 6 DOF parallel manipulator. Journal of Robotic Systems, 2000, 17(10): 527-547.
[53] Geng Z, Haynes L S. Six degree-of-freedom active vibration control using the Stewart platforms. IEEE Transactions on Control Systems Technology, 1994, 2(1): 45-53.
[54]张辉,王启明,汪劲松等. Stewart平台机构的减振控制插补策略.清华大学学报(自然科学版), 2002, 42(11): 1473-1476.
[55]刘胜,李晚龙,杜延春.并联机器人动力学与控制仿真研究.弹箭与制导学报, 2005, 25(4): 928-930.
[56]孔德庆,黄田,张洪波等.考虑交流伺服电机动力学特性的并联机构鲁棒轨迹跟踪控制方法研究.自动化学报, 2007, (01): 37-43.
[57]程源,任革学,戴诗亮.柔性支撑Stewart平台动力学与控制仿真.清华大学学报(自然科学版), 2003, 43(11): 1519-1522.
[58]徐东光,董彦良,吴盛林等.液压驱动Stewart平台非线性自适应控制器设计.机械工程学报, 2007, 43(3): 223-228.
[59] Merlet J P. Parallel Robots. Dordrecht, The Netherland: Kluwer Academic Publisher, 2000.
[60] Gosselin C M, Merlet J P. The direct kinematics of planar parallel manipulators - Special architectures and number of solutions. Mechanism and Machine Theory, 1994, 29(8): 1083-1097.
[61] Merlet J P. Solving the forward kinematics of a gough-type parallel manipulator with interval analysis. International Journal of Robotics Research, 2004, 23(3): 221-235.
[62] Raghavan M. The Stewart Platform of General Geometry Has 40 Configurations. Jouranal of Mechanical Design, 1993, 115(2): 277-282.
[63] Morgan A. Solving Polynomial Systems using Continuation for Engineering and Scientific Problems. Prentice-Hall, Inc, 1987.
[64]陈学生,陈在礼,孔民秀.并联机器人研究的进展与现状.机器人, 2002, 24(5): 464-470.
[65] Tsai M S, Shiau T N, Tsai Y J, et al. Direct kinematic analysis of a 3-PRS parallel mechanism. Mechanism and Machine Theory, 2003, 38(1): 71-83.
[66]王奇志,张祥德,崔建江等.关于一类3-3型并联机器人运动学正解问题的研究.控制与决策, 1998, 13(S1): 459-464.
[67]王奇志,张祥德,徐心和.一类3-6 Stewart平台的机构位置正解.机械科学与技术,1999, 18(2): 242-245.
[68]李树军,王玥.一种求解6-3构型并联机器人机构位置正解的逼近算法.机械科学与技术, 2002, 21(1): 81-8285.
[69]苏海军,廖启征,梁崇高.一种5-5型台体并联机器人机构的位置正解.北京邮电大学学报, 1997, 20(3): 1-8.
[70]文福安,李静宜,梁崇高.一般6-6型平台并联机器人机构位置正解.机械科学与技术, 1993, 9(4): 41-47.
[71] Parikh P J, Lam S S. A hybrid strategy to solve the forward kinematics problem in parallel manipulators. IEEE Transactions on Robotics, 2005, 21(1): 18-25.
[72] Yee C S, Lim K B. Forward kinematics solution of Stewart Platform using Neural Networks. Neurocomputing, 1997, 16(4): 333-349.
[73] Wang Y. A direct numerical solution to forward kinematics of general Stewart-Gough platforms. Robotica, 2007, 25(1): 121-128.
[74]王洪波,黄真.六自由度并联机器人的拉格朗日方程.机器人, 1990, 90(1): 23-26.
[75] Pang H, Shaingpoor M. Inverse dynamics of a parallel manipulator. Journal of Robotic System, 1994, 11(8): 693-702.
[76]白志富,韩先国,陈五一.基于Lagrange方程三自由度并联机构动力学研究.北京航空航天大学学报, 2004, 30(1): 51-54.
[77] Liu M J, Li C X, Li C N. Dynamics analysis of the Gough-Stewart platform manipulator. IEEE Transactions on Robotics and Automation, 2000, 18(1): 94-98.
[78] Wang J G, Gosselin C M. A new approach for the dynamic analysis of parallel manipulators. Multibody System Dynamics, 1998, (2): 317-334.
[79]李鹭扬,吴洪涛,朱剑英. Gough-Stewart平台高效动力学建模研究.机械科学与技术, 2005, 24(8): 887-889.
[80]李兵,王知行,李建生.基于凯恩方程的新型并联机床动力学研究.机械科学与技术, 1999, 18(1): 41-43.
[81] Fichter E F. A Stewart platform-based manipulator - General theory and practical construction. International Journal of Robotics Research, 1986, 5(2): 157-182.
[82] Yoshikawa T. Manipulability of Robotic Mechanisms. International Journal of Robotics Research, 1985, 4(2): 3-9.
[83] Salisbury J K, Craig J J. Articulated hands: force control and kinematic issues. International Journal of Robotics Research, 1982, 1(1): 4-17.
[84] Angeles J, Lopez-Cajun C S. Dexterity index of serial-type robotic manipulators. Trends and Developments in Mechanisms, Machines, and Robotics - 1988. Kissimmee, FL, USA: Publ by American Soc of Mechanical Engineers (ASME), New York, NY, USA, 1988. 79-84.
[85] Asada H, Cro G J. Kinematic and static characterization of wrist joints and their optimal design. 1985 IEEE International Conference on Robotics and Automation (Cat. No. 85CH2152-7), 25-28 March 1985. St. Louis, MO, USA: IEEE Comput. Soc. Press, 1984. 244-250.
[86] Klein C A, Blaho B E. Dexterity measures for the design and control of kinematically redundant manipulators. International Journal of Robotics Research, 1987, 6(2): 72-83.
[87] Byun Y K, Cho H S. Analysis of a novel 6-DOF, 3-PPSP parallel manipulator. International Journal of Robotics Research, 1997, 16(6): 859-872.
[88] Lacagnina M, Russo S, Sinatra R. A novel parallel manipulator architecture for manufacturingapplications. Multibody System Dynamics, 2003, 10(2): 219-238.
[89] Chablat D, Wenger P. Architecture optimization of a 3-DoF parallel mechanism for machining applications: the Orthoglide. IEEE Transactions on Robotics and Automation, 2003, 19(3): 403-410.
[90] Wu Y N, Gosselin C. Design of reactionless 3-DOF and 6-DOF parallel manipulators using parallelepiped mechanisms. IEEE Transactions on Robotics, 2005, 21(5): 821-833.
[91] Denkena B, Heimann B, Abdellatif H, et al. Design, Modeling and Advanced Control of the Innovative Parallel. Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 2005.
[92] Pashkevich A, Chablat D, Wenger P. Kinematics and workspace analysis of a three-axis parallel manipulator: the Orthoglide. Robotica, 2006, 24(Part 1): 39-49.
[93] Liu X J, Wang J, Zheng H J. Optimum design of the 5R symmetrical parallel manipulator with a surrounded and good-condition workspace. Robotics and Autonomous Systems, 2006, 54(3): 221-233.
[94] Gao F, Peng B B, Zhao H, et al. A novel 5-DOF fully parallel kinematic machine tool. International Journal of Advanced Manufacturing Technology, 2006, 31(1-2): 201-207.
[95] Kong X W, Gosselin C M. Type synthesis of 4-DOF SP-equivalent parallel manipulators: A virtual chain approach. Mechanism and Machine Theory, 2006, 41(11): 1306-1319.
[96] Jin Y, Chen I M, Yang G. Kinematic design of a 6-DOF parallel manipulator with decoupled translation and rotation. IEEE Transactions on Robotics, 2006, 22(3): 545-551.
[97] Pittens K H, Podhorodeski R P. A Family of Stewart Platforms with Optimal Dexterity. Journal of Robotic Systems, 1993, 10(4): 463-479.
[98] Bhattacharya S, Hatwal H, Ghosh A. On the optimum design of Stewart platform type parallel manipulators. Robotica, 1995, 13(Part 2): 133-140.
[99] Gosselin C, Angeles J. A global performance index for the kinematic optimization of robotic manipulator. Journal of Mechanical Design, 1991, 113(3): 220-226.
[100] Gosselin C, Angeles J. The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator. Journal of Mechanisms, Transmissions, and Automation in Design, 1989, 111(2): 202-207.
[101] Stoughton R S, Arai T. A Modified Stewart Platform Manipulator with Improved Dexterity. IEEE Transactions on Robtics and Automation, 1993, 9(2): 166-173.
[102] Zanganeh K E, Angeles J. Kinematic isotropy and the optimum design of parallel manipulators. International Journal of Robotics Research, 1997, 16(2): 185-197.
[103] Kim S G, Ryu J. Optimal design of 6 DOF parallel manipulators using three point coordinates. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 29-Nov 3 2001. Maui, HI: Institute of Electrical and Electronics Engineers Inc., 2001. 2178-2183.
[104] Kong X W, Gosselin C M. Type synthesis of 3T1R 4-DOF parallel manipulators based on screw theory. IEEE Transactions on Robotics and Automation, 2004, 20(2): 181-190.
[105] Para//MIC - the Parallel Mecchanisms Information Center. http://www.parallemic.org/, 2007.8.25.
[106] Clavel R. Conception d'un robot parallèle rapideà4 degrés de liberté, , Lausanne.EPFL,Switzerland Ph.D. Thesis, 1991.
[107] Gosselin C. The optimum design of robotic manipulators using dexterity indices. Journal of Robotics and Automonous Systems, 1992, 9(4): 213-216.
[108] Lipkin H, Duffy J. Hybrid Twist and Wrench Control for a Robotic Manipulator. Journal of Mechanisms, Transmissions, and Automation in Design, 1988, 110(2): 138-144.
[109] Doty K L, Melchiorri C, Bonivento C. A theory of generalized inverses applied to robotics. International Journal of Robotics Research, 1993, 12(1): 1-19.
[110] Doty K L, Melchiorri C, Schwartz E M, et al. Robot manipulabilty. IEEE Transactions on Robotics and Automation, 1995, 11(6): 462-468.
[111] Gosselin C M. Optimum design of robotic manipulators using dexterity indices. Journal of Robotics and Autonomous Systems, 1992, 9(4): 213-226.
[112] Pond G, Carretero J A. Formulating Jacobian matrices for the dexterity analysis of parallel manipulators. Mechanism and Machine Theory, 2006, 41(12): 1505-1519.
[113] Everett L J, Driels M, Mooring B W. Kinematic modeling for robot calilbration. Proceedings - 1987 IEEE International Conference on Robotics and Automation. Raleigh, NC, USA: IEEE, New York, NY, USA, 1987. 183-189.
[114] Judd R P, Knasinski A B. Technique to calibrate industrial robots with experimental verification. IEEE Transactions on Robotics and Automation, 1990, 6(1): 20-30.
[115] Mooring B W, May D C, Schulte M S. Modeling and analysis of a manipulator joint driven through a worm gear transmission. Advances in Design Automation - 1989, Sep 17-21 1989. Montreal, Que, Can: Publ by American Soc of Mechanical Engineers (ASME), New York, NY, USA, 1989. 67-73.
[116] van D C, Carretero J A. Calibration of the 3-PRS parallel manipulator using a motion capture system. Transactions of the Canadian Society for Mechanical Engineering, 2005, 29(4): 645-654.
[117] Chai K S, Young K, Tuersley I. A practical calibration process using partial information for a commercial Stewart platform. Robotica, 2002, 20(3): 315-322.
[118]张曙, (德)海舍尔.并联运动机床.北京:机械工业出版社, 2003.
[119] Wu D, Gu H. Adaptive Sliding Control of Six-DOF Flight Simulator Motion Platform. Chinese Journal of Aeronautics, 2007, (5): 425-433.
[120] Ren G, Lu, Qiuhai, Hu N, Nan R, et al. On vibration control with Stewart parallel mechanism. Mechatronics, 2004, 14(1): 1-13.
[121]吴博,吴盛林,赵克定.并联机器人控制策略的现状和发展趋势.机床与液压, 2005, (10): 5-9.
[122] Preumont A, Horodinca M, Romanescu I, et al. A six-axis single-stage active vibration isolator based on Stewart platform. Journal of Sound and Vibration, 2007, 300(3-5): 644-661.
[123]苏玉鑫.大射电望远镜精调Stewart平台的优化、分析与控制.西安:西安电子科技大学博士学位论文, 2002.
[124] Su Y X, Duan B Y, Zheng C H, et al. Disturbance-rejection high-precision motion control of a stewart platform. IEEE Transactions on Control Systems Technology, 2004, 12(3): 364-374.
[125] Graf R, Vierling R, Dillmann R. Flexible controller for a Stewart platform. International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES, 1998, 2: 52-59.
[126] Huang C I, Fu L C. Adaptive backstepping tracking control of the Stewart platform. 2004 43rd IEEE Conference on Decision and Control (CDC), Dec 14-17 2004. Nassau, Bahamas: Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ 08855-1331, United States, 2004. 5228-5233.
[127] Lin L C, Tsay M U. Modeling and control of micropositioning systems using Stewartplatforms. Journal of Robotic Systems, 2000, 17(1): 17-52.
[128]黄真,高峰.从并联机器人研究看知识创新和技术创新.机械工程学报, 2000, 36(2): 18-20.
[129] Hunt K H. Structural Kinematics of In-parallel-actuated Robot-arms. Journal of Mechanisms, Transmissions, and Automation in Design, 1983, 105(4): 705-712.
[130] Clavel R. Device for the Movement and Positioning of an Element in Space[P]. USA: December 11, 1990.
[131] Tsai L W, Stamper R. A Parallel Manipulator with Only Translational Degrees of Freedom. ASME 1996 Design Eng. Technical Conf. Irvine, CA: 1996. DETC96-MECH-1152.
[132] Kang B, Mills J K. Vibration control of a planar parallel manipulator using piezoelectric actuators. Journal of Intelligent & Robotic Systems, 2005, 42(1): 51-70.
[133] Albus J S, Bostelman R V, Dagalakis N G. The NIST Robocrane. Journal of Robotic System, 1993, 10(5): 709-724.
[134] Robocrane Project. www.isd.mel.nist.gov/projects/robocrane/, 2008-8-15.
[135] Carlson B, Bauwens L, Belostotski L, et al. Large adaptive reflector: A 200-m diameter, wideband, cm-m wave radio telescope. Radio Telescopes, Mar 27-Mar 30 2000. Munich, Ger: Society of Photo-Optical Instrumentation Engineers, Bellingham, WA, USA, 2000. 33-44.
[136]仇原鹰.大射电望远镜馈源支撑与指向跟踪系统的力学模型分析及实验研究.西安:西安电子科技大学博士学位论文, 2002.
[137]西安电子科技大学项目组. FAST预研究-大射电望远镜馈源支撑与指向跟踪系统仿真与实验研究总结报告[R].西安: 2002.
[138]汤奥斐.大跨度柔索驱动并联机器人关键问题分析及模型实验研究.西安:西安电子科技大学博士学位论文, 2007.
[139] Lin J, Huang Z Z. A hierarchical fuzzy approach to supervisory control of robot manipulators with oscillatory bases. Mechatronics, 2007, 17(10): 589-600.
[140] Lin J, Huang Z Z, Huang P H. An active damping control of robot manipulators with oscillatory bases by singular perturbation approach. Journal of Sound and Vibration, 2007, 304(1-2): 345-360.
[141] Lin J, Huang Z Z. A novel PID control parameters tuning approach for robot manipulators mounted on oscillatory bases. Robotica, 2007, 25(4): 467-477.
[142] Lew J Y, Moon S M. A simple active damping control for compliant base manipulators. IEEE/ASME Transactions on Mechatronics, 2001, 6(3): 305-310.
[143] George L E. Active vibration control of a flexible base manipulator.Georgia Institute of TechnologyPh.D学位论文, 2002.
[144] Sharon A, Hogan N, Hardt D E. Macro/micro manipulator: An improved architecture for robot control. Robotics and Computer-Integrated Manufacturing, 1993, 10(3): 209-222.
[145] Xie H P, Kalaycioglu S, Patel R V. Control of residual vibrations in the Space Shuttle Remote Manipulator System. International Journal of Robotics and Automation, 2000, 15(2): 68-77.
[146] Ballhaus W L, Rock S M. End-point control of a two-link flexible robotic manipulator with a mini-manipulator: initial experiments. Proceedings of the 1992 American Control Conference. Chicago, IL, USA: Publ by American Automatic Control Council, Green Valley, AZ, USA, 1992. 2510-2514.
[147] Torres M A, Dubowsky S, Pisoni A C. Vibration control of deployment structures' long-reach space manipulators: the P-PED method. Proceedings of the 1996 13th IEEE InternationalConference on Robotics and Automation. Part 3 (of 4). Minneapolis, MN, USA: IEEE, Piscataway, NJ, USA, 1996. 2498-2504.
[148] Van V J, Sharf I. Frequency matching algorithm for active damping of macro-micro manipulator vibrations. Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 2 (of 3). Victoria, Can: IEEE, Piscataway, NJ, USA, 1998. 782-787.
[149] Book W J, Lee S H. Vibration control of a large flexible manipulator by a small robotic arm. Proceedings of the 1989 American Control Conference. Pittsburgh, PA, USA: Publ by IEEE, Piscataway, NJ, USA, 1989. 1377-1380.
[150] Sharf I. Active damping of a large flexible manipulator with a short-reach robot. Proceedings of the 1995 American Control Conference. Part 5 (of 6). Seattle, WA, USA: 1995. 3329-3333.
[151] Nenchev D N, Yoshida K, Vichitkulsawat P, et al. Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system. Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4). Albuquerque, NM, USA: IEEE, Piscataway, NJ, USA, 1997. 2528-2534.
[152] Magee D P, Book W J. Filtering micro-manipulator wrist commands to prevent flexible base motion. Proceedings of the 1995 American Control Conference. Part 1 (of 6). Seattle, WA, USA: 1995. 924-928.
[153] Lew J Y, Moon S M. Acceleration feedback control of compliant base manipulators. Proceedings of the 1999 American Control Conference (99ACC). San Diego, CA, USA: Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ, USA, 1999. 1955-1959.
[154]郑堤,唐可洪.机电一体化设计基础.北京:机械工业出版社, 1997.
[155]周立峰,巢来春.伺服系统基本原理.(第一分册).北京:国防工业出版社, 1980.
[156]王伟,谢海波,傅新等.一种基于固有频率分析的液压6自由度并联机构参数优化方法.机械工程学报, 2006, 42(3): 77-82.
[157]邢继峰,彭利坤,朱石坚等. Stewart平台的综合谐振频率研究.机械科学与技术, 2007, 26(1): 84-87.
[158] Geng Z, Haynes L S. Multiple degree-of-freedom active vibration control using a Stewart platform. Third International Conference on Adaptive Structures, Nov 9-11 1992. San Diego, CA, USA: Publ by Society of Photo-Optical Instrumentation Engineers, Bellingham, WA, USA, 1993. 499-513.
[159] Geng Z, Haynes L S. Six-degree-of-freedom active vibration isolation using a Stewart platform mechanism. Journal of Robotic Systems, 1993, 10(5): 725-744.
[160] Franklin G F, Powell J D, Emami-Naeini A. Feedback Control of Dynamic Systems, Fourth Edition. New York: Prentice Hall, 2002.
[161]吴麒,王诗宓主编.自动控制原理(第二版).北京:清华大学出版社, 2006.
[162] Craig J J. Introduction to Robotics: Mechanics and Control. MA. Third edition ed. MA: Prentice Hall, 2004.
[163]蔡自兴.机器人学(第二版).北京:清华大学出版社, 2000.
[164] Dasgupta B, Mruthyunjaya T S. Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator. Mechanism & Machine Theory, 1998, 33(8): 1135-1152.
[165]龚振邦,陈振华,钱晋武.机器人机械设计.北京:电子工业出版社, 1995.
[166]刘金琨.先进PID控制MATLAB仿真(第2版).北京:电子工业出版社, 2004.
[167]杨耕,罗应立.电机与运动控制系统.北京:清华大学出版社, 2006.
[168]陈国良,王熙法,庄镇泉.遗传算法及其应用.北京:人民邮电出版社, 1996.
[169]王小平,曹立明.遗传算法-理论、应用与软件实现.西安:西安交通大学出版社, 2002.
[170]玄光男,程润伟.遗传算法与工程优化.北京:清华大学出版社, 2004.
[171] Gen M, Cheng R. Genetic algorithm and engineering design. New York: John Wiley, 1997.
[172] Holland J H. Adaptation in nature and artificial systems. Cambridge, MA: MIT Press, 1992.
[173] Su Y X, Duan B Y, Peng B, et al. A real-coded genetic optimal kinematic design of a Stewart fine tuning platform for a large radio telescope. Journal of Robotic Systems, 2001, 18(9): 507-516.
[174] Meng Y, Li W, Guo W, et al. Temporal texture synthesis algorithm using genetic algorithm. Journal of Computational Information Systems, 2006, 2(2): 847-853.
[175] Yoshikawa M, Terai H. Genetic algorithm engine for scheduling problems. WSEAS Transactions on Circuits and Systems, 2006, 5(3): 397-402.
[176] Cai Z S, Hong B R, Huang Q C, et al. Improved scan matching using genetic algorithm. Journal of Computational Information Systems, 2005, 1(4): 943-949.
[177] Kokkinis T, Stoughton R. Optimal parallel actuation linkage for 3 DOF elbow manipulators. Trends and Developments in Mechanisms, Machines, and Robotics - 1988. Kissimmee, FL, USA: Publ by American Soc of Mechanical Engineers (ASME), New York, NY, USA, 1988. 465-472.
[178] Ma O, Angeles J. Optimum architecture design of platform manipulators. 91 ICAR. Fifth International Conference on Advanced Robotics. Robots in Unstructured Environments (Cat. No.91TH0376-4), 19-22 June 1991. Pisa, Italy: IEEE, 1991. 1130-1135.
[179] Stocco L J, Salcudean S E, Sassani F. On the use of scaling matrices for task-specific robot design. IEEE Transactions on Robotics and Automation, 1999, 15(5): 958-965.
[180] Lee J, Duffy J, Hunt K. A pratical quality index based on the octahedral manipulator. International Journal of Robotics Research, 1998, 17(10): 1081-1090.
[181] Ben-Horin R, Shoham M, Dayan J. On the isotropic configurations of a six-degrees-of-freedom parallel manipulator. IFAC Intelligent Manufacturing Systems. Seoul, Korea: 1997.
[182]王晓敏.多目标最优化和群体决策的若干理论和方法.上海:上海交通大学博士学位论文, 1999.
[183] SynqNet技术. http://www.danahermotion.com.cn/, 2007.12.10.
[184]孙立宁,于凌涛,杜志江等.并联机器人胡克铰工作空间的研究与应用.机械工程学报, 2006, 42(8): 120-124.
[185]于晖,孙立宁,张秀峰等.虎克铰工作空间研究及其在6-HTRT并联机器人中的应用.中国机械工程, 2002, 13(21): 1830-1835.
[186]高金莲,韩英强,李波等.并联机器人球铰链的仿真设计.机械设计, 2007, 24(2): 53-55.
[187] Han J, Tioh R, Nishiyama S. A muti-optimum design of a two-piece aluminum beverage bottle considering tactile sensation of heat. Proceeding of the 3rd China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems. Kanazawa, Japan: 2004. 353~358.
[188] Srinivas M, Patnaik L M. Adaptive probabilities of crossover and mutation in genetic algorithms. IEEE Transactions on Systems, Man and Cybernetics, 1994, 24(4): 656-667.
[189] Zhang J, Chung H S, Hu B J. Adaptive probabilities of crossover and mutation in genetic algorithms based on clustering technique. Proceedings of the 2004 Congress on Evolutionary Computation, CEC2004. Portland, OR, United States: Institute of Electrical and ElectronicsEngineers Inc., New York, United States, 2004. 2280-2287.
[190] Zhu Y F, Dai C H, Chen W R, et al. Adaptive probabilities of crossover and mutation in genetic algorithms based on cloud generators. Journal of Computational Information Systems, 2005, 1(4): 671-678.
[191]彭昭旺,杨洪柏,钟廷修.实值编码行星齿轮传动优化.上海交通大学学报, 1999, 33(7): 533-535.
[192]段学超,仇原鹰,段宝岩.大射电望远镜精调Stewart平台工作空间研究.电子机械工程, 2004, 20(5): 55-58.
[193] Wang J, Masonry O. On the accuracy of a Stewart platform. Part I. The effect of manufacturing tolerances. Proceedings of the IEEE International Conference on Robotics and Automation. Atlanta, GA, USA: Publ by IEEE, Piscataway, NJ, USA, 1993. 114-120.
[194]段学超,仇原鹰,段宝岩.大射电望远镜精调Stewart平台结构刚度分析.机械科学与技术, 2006, 25(1): 50-52.
[195] Weck M, Staimer D. Parallel kinematic machine tools - Current state and future potentials. CIRP Annals - Manufacturing Technology, 2002, 51(2): 671-683.
[196] Zaeh M F, Baudisch T. Simulation environment for designing the dynamic motion behaviour of the mechatronic system machine tool. Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 2003, 217(7): 1031-1035.
[197]李佳.数控机床及应用.北京:清华大学出版社, 2001.
[198] Yusuf. Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations, and CNC Design. Cambridge: Cambridge University, 2000.
[199] Motion Enginneering Incorporation. MEI Technical Support(03.04.00).
[200] http://www.synqnet.org/. 2008.5.
[201]普罗西斯.北京博彦科技发展有限责任公司译. MFC Windows程序设计.北京:清华大学出版社, 2007.
[202] Zhang D, Wang L H, Esmailzadeh E. PKM capabilities and applications exploration in a collaborative virtual environment. Robotics and Computer-integrated Manufacturing, 2006, 22(4): 384-395.
[203] Wiens G J, Shamblin S A, Oh Y H. Characterization of PKM dynamics in terms of system identification. Proceedings of the Instiution of Mechanical Engineers Part K-Journal of Multi-body Dynamics, 2002, 216(1): 59-72.
[204]周宏仁.机动目标跟踪.北京:国防工业出版社, 1991.
[205] Duh F B, Lin C T. Tracking a Maneuvering Target Using Neural Fuzzy Network. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 2004, 34(1): 16-33.
[206]保宏,段宝岩,陈光达.具有慢速时滞机动目标三维跟踪.控制理论与应用, 2006, 23(04): 526-530.
[207]何玉庆,韩建达.基于卡尔曼滤波及牛顿预测的角加速度估计方法试验研究.机械工程学报, 2006, 42(2): 226-232.
[208] Han J D, He Y Q, Xu W L. Angular acceleration estimation and feedback control: An experimental investigation. Mechatronics, 2007, 17(9): 524-532.
[209]韩京清.从PID技术到“自抗扰控制”技术.控制工程, 2002, 9(3): 13-18.
[210]韩京清.自抗扰控制技术.前沿科学, 2007, 1(1): 24-31.
[211]袁亚湘,孙文瑜.最优化理论与方法.北京:科学出版社, 2003.
[212]朱文白. FAST望远镜馈源运动的描述[R].北京:国家天文观测中心MEMOS of the FAST,1999.
[213] Shin J H, Lee C Y, Lee J J. Adaptive robust control of underactuated robot manipulators. Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97. Tokyo, Jpn: IEEE, Piscataway, NJ, USA, 1997. 95.
[214] George L E, Book W J. Inertial vibration damping control of a flexible base manipulator. IEEE/ASME Transactions on Mechatronics, 2003, 8(2): 268-271.
[215] Brandt R D, Lin F. Supervised learning in neural networks without feedback network. IEEE International Symposium on Intelligent Control, 1996, : 86-90.
[216] Lin F, Brandt R D, Saikalis G. Self-tuning of PID controllers by adaptive interaction. American Control Conference. Chicago: IEEE, 2000. 3676-3680.
[217]邹俊,傅新,杨华勇等.自适应交互PID在液压伺服系统中的应用.机械工程学报, 2006, 42(11): 179-183.
[218] Ang K H, Chong G, Li Y. PID control system analysis, design, and technology. IEEE Transactions on Control Systems Technology, 2005, 13(4): 559-576.
[219] Ioannidis S, Tsourveloudis N, Valavanis K. Fuzzy supervisory control of manufacturing systems. IEEE Transactions on Robotics and Automation, 2004, 20(3): 379-389.
[220]范成建,熊光明,周明飞.虚拟样机软件MSC.ADAMS应用与提高.北京:机械工程出版社, 2006.
[221]郑建荣. ADAMS虚拟样机技术入门与提高.北京:机械工业出版社, 2001.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |