Experiment study on the motion planning and control of focus cabin of FAST

The cable is easily aroused to vibrate in the process of Source Changing by the unsmooth cable velocity because the cable only can sustain tension but cannot bear thrust. What is worse, the position error of the end point of Source Changing was unacceptable. In this paper, different methods were used to find out the most suitable. The experiments on the scale model were conducted and the experiments data were analyzed. Eventually, the motion planning algorithm based on a continuous acceleration with attitude planning strategy was adopted because of the minor vibration of the cable and the higher accuracy of the end point of Source Changing. The effectiveness of the algorithm in this paper was verified.