Abstract
This article presents knowledge on the design of a large-scale Gravity Compensation System (GCS) for lunar rover. The system comprises a large-scale planar position servo system that covers an area of 900 square meters and a force servo system that generates compensation force. The major problems in system design are clearly identified so that the mechanisms and control strategies of the GCS could be better understood. Experiment results are also included to extend the knowledge on this system.
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