Abstract
This paper studies the six degree-of-freedom active isolation of flexible supporting structures using Gough-Stewart platform. The problem arises from a large radio telescope in which the astronomical equipment is mounted on a platform to be stabilized, while the base platform of the mechanism itself is carried by a cable car moving along flexible cables. In this paper, the stabilization problem is equivalent to a dynamics and control problem of multi-body system. A control law of the prediction of the base platform and PD feedback is proposed for the six actuators of the Gough-Stewart platform. Based on numerical results, a model experimental setup has been built up. The control effects are measured with LTD 500 Laser Tracker.
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