Decoupled Tracking and Prediction Algorithm for Flexible Supporting Three Dimensional Maneuvering Object

段学超; 仇原鹰; 段宝岩

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Decoupled Tracking and Prediction Algorithm for Flexible Supporting Three Dimensional Maneuvering Object

更新时间：2025-12-08

- Decoupled Tracking and Prediction Algorithm for Flexible Supporting Three Dimensional Maneuvering Object
- Vol. 42, Issue 5, Pages: 592-596(2008)
- 作者机构：
  
  西安电子科技大学电子装备结构教育部重点实验室,西安,710071
- 作者简介：
- 基金信息：
- DOI：
  CLC： TN823;TP242
- Online First：10 May 2008，
  
  Published：2008
- 稿件说明：
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段学超, 仇原鹰, 段宝岩. Decoupled Tracking and Prediction Algorithm for Flexible Supporting Three Dimensional Maneuvering Object[J]. 2008, 42(5): 592-596.
DOI：

段学超, 仇原鹰, 段宝岩. Decoupled Tracking and Prediction Algorithm for Flexible Supporting Three Dimensional Maneuvering Object[J]. 2008, 42(5): 592-596. DOI：

摘要

为了克服因忽略各自由度的耦合本质而引入的预测误差

基于并联机构学原理

提出了一种柔性支撑三维机动目标跟踪预测算法.该算法将运动目标假定为6自由度并联机器人的末端执行器

在其解耦的关节空间进行驱动支链长度的预测

通过并联机器人位置正解得出目标在将来时刻的位姿.针对500 m口径球面射电望远镜馈源支撑与指向系统的两级复合控制模型进行数值仿真

结果表明

与传统预测方法相比

该预测算法的精度提高了一倍

运算时间为亚毫秒数量级.

Abstract

To remove the predicted errors due to neglecting the coupling character among the six degrees of freedom

a decoupled tracking and prediction algorithm based on the principle of parallel mechanism is presented

where the three dimensional object is treated as the end-effector of a suppositional six degrees-of-freedom full parallel manipulator. The lengths of actuating links are predicted in the decoupled joint space

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 500 m aperture spherical radio telescope feed supporting and orienting system as an example

the numerical simulation shows that the prediction accuracy is improved twice within a millisecond computing period.

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references

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