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High Precision Automated Astronomical Mount


[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee | [ D ] phd student

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication


Chapter type

chapter in monograph / paper

Publication language


  • astronomical mount
  • robotic telescope
  • control system
  • sky observation
  • trajectory tracking
  • ADRC

EN In this paper, some specific aspects of a new automated astronomical mount of a 0.5 m class telescope is provided. This is the first astronomical mount built on the ground of Polish technical concept. This mount was designed and built by the interdisciplinary team consisting of researchers representing automation and robotics discipline (Poznan University of Technology) and astronomy (Nicolaus Copernicus Astronomical Centre of the Polish Academy of Sciences). The project takes advantage of CAD software for mechanical design, analysis and optimization. Furthermore, the modern control theory is utilized for coping with complicated physical phenomena which are especially troublesome in the low range of angular velocities of the mount. The astronomical mount is able to work with the high accuracy of positioning, greater than one second of arc, and large range of accessible velocities. The mount is dedicated for observations of stars and satellites. Mechanical and electrical parts of the mount and its measuring system are discussed. Furthermore, an algorithm designed for motion control, based on the active disturbance rejection paradigm, is outlined. In order to illustrate the performance of the closed-loop system, experimental results of trajectory tracking in the joint and the task spaces are compared.

Date of online publication


Pages (from - to)

299 - 315





Automation 2019 : Progress in Automation, Robotics and Measurement Techniques

Presented on

Automation 2019, 27-29.03.2019, Warsaw, Poland

Ministry points / chapter


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