Cascade motion planning for vibration suppression of the focus cabin in FAST

The Five-hundred-meter Aperture Spherical Radio Telescope (FAST) requires high accuracy of positioning and attitude adjusting. Due to its flexible structure, the cable-cabin system can be excited to vibrate, which affects the performance. To alleviate the vibration during the slewing task, taking advantage of s-curve planning and input shaping, a cascade motion planning method is proposed. Considering the main vibration mode, a simplified cable-cabin model is built for simulation according to the parameters of FAST. Simulation experiments are conducted to prove that the cascade method is effective in vibration suppression and robust to the change of natural frequency.