{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T04:48:16Z","timestamp":1777524496924,"version":"3.51.4"},"reference-count":28,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2011,4,11]],"date-time":"2011-04-11T00:00:00Z","timestamp":1302480000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2011,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper deals with the motion prediction and control of the macro\u2013micro parallel manipulator system for a 500-m-aperture spherical radio telescope (FAST). Firstly, based on principles of parallel mechanism, a decoupled tracking and prediction algorithm to predict the position and orientation of the movable macro parallel manipulator is presented in this paper. Then, taken as the upper layer supervisory controller in the joint space of the micro parallel manipulator, the adaptive interaction PID controller utilizing the adaptive interaction algorithm to adjust the parameters of a canonical PID controller is discussed. In addition, the digital servo filters with feedforward are employed in the linear actuators as the lower layer controllers. Experimental results of a one-tenth scale FAST field model validate the effectiveness of the supervisory controller and the motion prediction algorithm.<\/jats:p>","DOI":"10.1017\/s0263574711000282","type":"journal-article","created":{"date-parts":[[2011,12,1]],"date-time":"2011-12-01T17:59:16Z","timestamp":1322762356000},"page":"1005-1015","source":"Crossref","is-referenced-by-count":17,"title":["Motion prediction and supervisory control of the macro\u2013micro parallel manipulator system"],"prefix":"10.1017","volume":"29","author":[{"given":"Xuechao","family":"Duan","sequence":"first","affiliation":[]},{"given":"Yuanying","family":"Qiu","sequence":"additional","affiliation":[]},{"given":"Jianwei","family":"Mi","sequence":"additional","affiliation":[]},{"given":"Ze","family":"Zhao","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2011,4,11]]},"reference":[{"key":"S0263574711000282_ref28","first-page":"3676","volume-title":"Proceedings of American Control Conference","author":"Lin","year":"2000"},{"key":"S0263574711000282_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ISIC.1996.556182"},{"key":"S0263574711000282_ref25","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574706003080"},{"key":"S0263574711000282_ref23","volume-title":"Active Disturbance Rejection Control Technique-The Technique for Estimating and Compensating the Uncertainties","author":"Han","year":"2008"},{"key":"S0263574711000282_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.1995.532220"},{"key":"S0263574711000282_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/37.482134"},{"key":"S0263574711000282_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.1995.529383"},{"key":"S0263574711000282_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/3516.951368"},{"key":"S0263574711000282_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2007.09.004"},{"key":"S0263574711000282_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/S0957-4158(98)00028-2"},{"key":"S0263574711000282_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/MP.2004.1289998"},{"key":"S0263574711000282_ref1","doi-asserted-by":"publisher","DOI":"10.1007\/s11433-006-0129-9"},{"key":"S0263574711000282_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/S0893-6080(02)00229-0"},{"key":"S0263574711000282_ref11","doi-asserted-by":"crossref","first-page":"1135","DOI":"10.1016\/S0094-114X(97)00118-3","article-title":"Comments on \u201cA Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator by B. 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