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Tip deflection and vibration have a large impact on the manipulator operation safety, and hybrid structure flexible manipulator has a larger workspace and more flexibility. In this paper, a new modeling scheme for a hybrid structure flexible manipulator is proposed. In the proposed scheme, the joint variables of hybrid structure flexible manipulator are divided in rigid joint angle and small joint...
In order to verify the vibration resistance feasibility of the Stewart platform with a flexible base platform in the feed cabin support system of FAST(Five-hundred-meter Aperture Spherical radio Telescope), this paper presents a scheme on the implementation of the reduced scale Stewart platform model of FAST. A vibration suppressing control algorithm is given, and the experiments related were conducted...
In this paper, a backstepping controller is presented for the tracking control of work platform of folding-boom aerial platform vehicle. The control objective is to suppress the vibration and drive the work platform to follow a desired reference trajectory. According to the Lyapunov stability theorem, the derived control law guarantees that the trajectory tracking system is exponentially asymptotically...
In this paper, an adaptive fuzzy sliding mode controller (AFSMC) is presented for the tracking control of work platform of folding-boom aerial platform vehicle. Chattering caused by the high speed switching control in sliding mode controller may degenerate the system performance and result in unpredictable instabilities. The proposed AFSMC could eliminate the chattering by substituting the discontinuous...
Folding-boom aerial platform vehicle is a type of construction vehicle used to hoist personnel to the appointed location in the aerial. As for aerial platform vehicle, the flexible deformations of the arm system cannot be neglected. Therefore, the flexible multi-body dynamics equations of the arm system of folding-boom aerial platform vehicle are established based on flexible multi-body dynamics theory...
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