Abstract
This paper deals with the kinematic calibration and motion control of a triple-level spatial positioner consisting of the cable-driven parallel manipulator (CDPM), active gyro stabilizer (AGS), and the Stewart platform. A six-degree-of-freedom laser tracker is employed when calibrating the benchmark positions and measuring the real-time position and orientation in motion control, which makes it a straightforward solution to tackle with hierarchical mechatronic system actuated by servomotors with incremental encoders. Then the trajectory planning and motion control of the triple-level robotic spatial positioner are explored to verify the correctness and to what extent the calibration improves the system. This CDPM based spatial positioner has an accuracy of several millimeters though it has a ten-meter workspace.
Highlights
The five-hundred-meter aperture spherical radio telescope (FAST) is being built in the limestone formation in China [1, 2], which will be the largest single dish super antenna of the world, being endowed with revealing the mystery of the universe
The second level subsystem is the servomotor driven active gyro stabilizer (AGS), and the third level Stewart platform is mounted on the bottom of the AGS
The SynqNet network motion controller is used in the servo control of AGS and Stewart platform, so that the remote control can be realized
Summary
The five-hundred-meter aperture spherical radio telescope (FAST) is being built in the limestone formation in China [1, 2], which will be the largest single dish super antenna of the world, being endowed with revealing the mystery of the universe. One of the prominent innovations of FAST lies in its triple-level spatial positioner for supporting the feed (the radio waves receiver).
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