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PLATONPERSON IN CHARGE: Emiris IoannisFUNDED BY: General Secretariat Research Technology START DATE: 01/01/2004 END DATE: 31/12/2005 WEB SITE/E-MAIL: http://cgi.di.uoa.gr/~erga/collab/coprin/ DESCRIPTION: We study an extendible mechanism with 6 degrees of freedom in order to position accurately the mirror of a telescope for earth observation. The chosen architecture is a parallel robot (active wristβINRIA), which has the merit of accuracy and speed for large weights. But accuracy is degraded by errors; to face this issue, it is important to compute the geometric parameters through calibration once the mechanism is in orbit and, then, regularly during its use.Computing the parameters is based on the solution of algebraic equations defined by certain measurements. We have studied an algorithm that enhances the robustness of this computation while its complexity is competitive; in addition, it simplifies the choice of measured configurations. The goal here is to improve this technique in order to apply it to satellite mechanisms, whose constraints have not been studied yet. We shall exploit the structure of equations to obtain real-time solutions. The final goal is software for positioning the telescope robustly and efficiently.
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