Task-space position/attitude tracking control of FAST fine tuning system

Abstract

This paper addresses the task-space position/ attitude tracking control of a suspended parallel robot, which is being developed in the framework of a five-hundred meter aperture spherical radio telescope (FAST) project. Based on the quaternion algebra, a novel modelindependent task-space PD controller that ensures endeffector position and attitude tracking is presented. The simulation and experimental results show that the new controller has better control effects than the traditional joint-space controller.