Decoupled Tracking and Prediction Algorithm for Flexible Supporting Three Dimensional Maneuvering Object

To remove the predicted errors due to neglecting the coupling character among the six degrees of freedom,a decoupled tracking and prediction algorithm based on the principle of parallel mechanism is presented,where the three dimensional object is treated as the end-effector of a suppositional six degrees-of-freedom full parallel manipulator.The lengths of actuating links are predicted in the decoupled joint space,then the future position of the object is obtained with forward kinematics of the suppositional parallel manipulator.Taking the two-stage compound control model of 500 m aperture spherical radio telescope feed supporting and orienting system as an example,the numerical simulation shows that the prediction accuracy is improved twice within a millisecond computing period.