Task-space position/attitude tracking control of FAST fine tuning system

2008, Volume 3, Issue 4

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Frontiers of Mechanical Engineering >> 2008, Volume 3, Issue 4 doi: 10.1007/s11465-008-0056-8

Task-space position/attitude tracking control of FAST fine tuning system

Department of Precision Instrument and Mechanology, Tsinghua University

Available online: 2008-12-05

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Abstract

This paper addresses the task-space position/attitude tracking control of a suspended parallel robot, which is being developed in the framework of a five-hundred meter aperture spherical radio telescope (FAST) project. Based on the quaternion algebra, a novel model-independent task-space PD controller that ensures end-effector position and attitude tracking is presented. The simulation and experimental results show that the new controller has better control effects than the traditional joint-space controller.

Keywords

telescope ; five-hundred ; end-effector ; controller ; simulation

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