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In this work a parallel manipulator (Stewart platform) is used to align and maintain the position of the secondary mirror of a radio-telescope. The six degrees of freedom platform gives the significant advantage of reaching the maximum performance for the positioning tasks. The near-singularity condition of the platform is analyzed and is handled by implementation of a new control law based on sliding...
In this work a parallel manipulator (Stewart platform) is used to align and maintain the position of the secondary mirror of a radio-telescope. The six degree of freedom platform gives the significant advantage to reach the maximum performance for the positioning task. This system uses six lineal actuators with changeable lengths to obtain the desired position. The filtered version of sliding mode...
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