Abstract
The complete kinematics and dynamics of the cooperative cable parallel manipulators for multiple mobile cranes is studied, which is the foundation for the further research of this new promising and significant engineering equipment. The kinematics of the cooperative three mobile cranes with point-mass is established with elimination method, including both forward and inverse kinematics. Based on Lagrange equation and the kinematics, the complete dynamic model of the CPRMC is derived. A robust iterative learning controller (ILC) of the CPRMC is designed on the basis of the linearization of the dynamics. Numerical simulation is conducted in order to investigate the dynamics and the designed robust ILC of the CPRMC.
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Zi, B., Qian, S. (2017). Development, Coordinated Control and Experiments of the Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes. In: Design, Analysis and Control of Cable-suspended Parallel Robots and Its Applications. Springer, Singapore. https://doi.org/10.1007/978-981-10-1753-7_9
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DOI: https://doi.org/10.1007/978-981-10-1753-7_9
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