A Control Scheme for the Parallel Robot Used as the Supporting Mechanism of an Astronomical Telescope

This paper proposes a control scheme of a 6-DOF parallel robot based on a prediction mechanism,which is used as the supporting mechanism of an astronomical telescope.The paper subsequently describes the structure and kinematics of the robot,and the implementation of the control scheme.The paper also analyzes simulation results of the control process and verifies the effectiveness of the control scheme.