Supervisory control of a macro-micro parallel manipulator system

In order to achieve the high motion precision of the macro-micro parallel manipulator system for a radio telescope, a decoupled tracking and prediction algorithm based on principles of parallel mechanisms is presented. Then the adaptive interaction PID controller, which utilizes the adaptive interaction algorithm to tune the parameters of a canonical PID controller, is proposed as the supervisory controller in the joint space of the Stewart platform. Additionally, the digital servo filters with feedforward are employed in the lower level of the electrical cylinders. Experimental results validate the high precision of the macro-micro parallel manipulator system wit supervisory controller and the motion prediction algorithm.