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	Optimization for wire tensions in wire-driven parallel manipulators
	Chen, Yixin ; Yue, Suilu ; Yin, Chunping ; Wang, Zhao ; Lin, Qi ; Lin Q(林麒)
	2012
关键词	Artificial intelligence Automation Constrained optimization Control Mathematical models Nonlinear programming Process control Redundant manipulators
英文摘要	Conference Name:International Conference on Automatic Control and Artificial Intelligence, ACAI 2012. Conference Address: Xiamen, China. Time:March 3, 2012 - March 5, 2012.; In the paper, an optimum proposal of wire tensions based on the penalty function is given and a nonlinear mathematical model of wire tensions is established. By use of the penalty function algorithm, the constrained optimization problem of wire tensions will be transformed into unconstrained optimization problem. Two cases which are different minimum preloads at zero attitude position and the same minimum preload at different attitude positions are given to analyse the algorithm. The simulation results show that the curves of wire tensions are relatively smooth. There is no changed impact, and the values of the maximum tensions obtained are also realistic.
语种	英语
出处	http://dx.doi.org/10.1049/cp.2012.1265
出版者	Institution of Engineering and Technology
内容类型	其他
源URL	[http://dspace.xmu.edu.cn/handle/2288/86277]
专题	物理技术－会议论文
推荐引用方式 GB/T 7714	Chen, Yixin,Yue, Suilu,Yin, Chunping,et al. Optimization for wire tensions in wire-driven parallel manipulators. 2012-01-01.

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