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	Overview of the CFETR remote handling system and the development progress 期刊论文 OAI收割 FUSION ENGINEERING AND DESIGN, 2022, 卷号: 177 作者: Cheng, Yong; Song, Yuntao; Wu, Huapeng; Yang, Yang; Zhang, Jun \| 收藏 \| 浏览/下载：52/0 \| 提交时间：2022/05/16 CFETR Remote handling Manipulator Divertor Blanket
	An energy-based position control and asymptotic stability analysis for manipulator handling a flexible payload (EI CONFERENCE) 会议论文 OAI收割 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China 作者: Wang Z.; Li Y.; Li Y.; Li Y.; Li Y. 收藏 \| 浏览/下载：46/0 \| 提交时间：2013/03/25 In this paper an exact dynamic model of manipulator handling a flexible payload is derived by Hamiton's principle. On the basis of the distributed parameter model a position controller is designed by using Lyapunov function related to the total energy of the system. The controller can achieve the given desired link angles and suppress the vibrations of flexible payload. Using the LaSalle's invariance principle and the characteristic of the differential operator the asymptotic stability in the neighbor-hood of the desired states of the closed-loop system is proved. The effectiveness of the control strategy proposed is supported by some simulations. 2012 IEEE.
	Design of MB Sub-Mirror Handling Manipulator for LAMOST 会议论文 OAI收割 Marseille, France, 2008-6-23 作者: Guoping Li; Fanghua Jiang; Heng Zuo 收藏 \| 浏览/下载：27/0 \| 提交时间：2014/01/01 LAMOST Handling Manipulator Design Scheme Simulation Analysis