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

Liqun Qi, Hui Zhang, Guanghong Duan

Research output: Journal article publicationJournal articleAcademic researchpeer-review

2 Citations (Scopus)


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.
Original languageEnglish
Pages (from-to)392-399
Number of pages8
JournalFrontiers of Mechanical Engineering in China
Issue number4
Publication statusPublished - 1 Dec 2008
Externally publishedYes


  • Parallel robot
  • PD controller
  • Position and attitude track
  • Quaternion feedback
  • Stewart platform

ASJC Scopus subject areas

  • Mechanical Engineering


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