大型射电望远镜宏-微机器人系统初始状态的标定

为了保证大型射电望远镜馈源对射电源目标的动态跟踪定位精度 ,对馈源宏 微机器人复合运动控制系统进行了基础标定。首先 ,借助于悬索长度与张力的一一对应关系 ,通过调控悬索伺服系统零位时的电机转矩 ,标定了舱索宏机器人系统的零位索长。然后 ,借助于Leica全站仪 ,标定了Stewart平台微机器人系统虎克铰在馈源舱局部坐标系中的坐标。两个模型运动控制实验结果表明 ,对宏微两级系统的标定是必要和有效的

Adjustments of Initial Conditions of the Macro-Micro Manipulator of the Large Radio Telescope

To ensure the tracing precision of feed of the large radio telescope to a radio source, the adjustmentsof initial conditions of the macro-micro manipulator, a composite control system for the feed, are made. First, the six initial cables′ lengths of the cable-cabin macro manipulator system are determined by adjusting the initial torques of the six corresponding servo motors based on the relationship between the cables′ lengths and tensions. Then the coordinates of universal joints of the Stewart platform, a micro manipulator system, in the local coordinate system of the cabin are adjusted using a set of leica total stations. Tow model tests illustrate the necessity and efficiency of the adjustments.