摘要
The paper relates to a motion planning algorithm for the feed support system of the Five-hundred-meter Aperture Spherical radio Telescope(FAST).To enhance the stability of the feed support system,the start/termination planning segments are adopted with an acceleration and deceleration section.The source switching planning adopts a combination of a line segment and focal segment to realize stable control of the feed support system.Besides,during the observation trajectory,a transition segment which is not used for observation data is planned with a required time.Through an example simulation,a smooth change is realized via the motion planning algorithm and presented in this paper.
作者
Rui Yao
Peng Jiang
Jing-Hai Sun
Dong-Jun Yu
Chun Sun
姚蕊;姜鹏;孙京海;于东俊;孙纯(National Astronomical Observatories,Chinese Academy of Sciences,Beijing 100101,China;CAS Key Laboratory of FAST,National Astronomical Observatories,Chinese Academy of Sciences,Beijing 100101,China)
基金
funded by the National Natural Science Foundation of China(Grant Nos.11203048 and 11973062)
the Youth Innovation Promotion Association CAS
the Open Project Program of the Key Laboratory of FAST
National Astronomical Observatories,Chinese Academy of Sciences
