An experimental study on control accuracy of FAST cable robot following zigzag astronomical trajectory
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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