Abstract
The huge cable robot of FAST is used in following astronomical trajectories continuously and tracking star in the sky. The cable robot is a complicate coupled series control system. Its control architecture is introduced, including a formulation of astronomical trajectory as well. Some control tests are done and compared as the robot follows a special zigzag trajectory. According to the problems of control tests, some tentative improvements are tried. Finally a short summary is given on control performance of the cable robot and further work in the future.
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Li, H., Li, M. (2019). An experimental study on control accuracy of FAST cable robot following zigzag astronomical trajectory. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham. https://doi.org/10.1007/978-3-030-20751-9_21
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DOI: https://doi.org/10.1007/978-3-030-20751-9_21
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Online ISBN: 978-3-030-20751-9
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