2020PASP..132i5002K

The design, manufacturing and field tests of a new astronomical telescope mount are the main topics of this paper. The new robotic mount dedicated for 0.5 m class telescopes is the first mount developed, developed and produced as fully Polish concept by engineers and researchers representing the automation and robotics discipline (Poznan University of Technology) and astronomy (Nicolaus Copernicus Astronomical Centre of the Polish Academy of Sciences). The mount is an alt-azimuth fork-type design which allows tracking of typical astronomical targets (sidereal tracking) but also man made objects (satellite tracking). Thanks to a unique mechanical design based on direct drive motors and high precision encoders coupled with custom electronics and on-board software implementing modern control theory achievements it was possible to obtain very good trajectory tracking precision throughout the entire dynamic range defined by the user scenarios. Additionally, the used control algorithms are robust to some class of disturbances such as friction which in turn allows for very high precision tracking in a wide range of angular velocities-from quasi-static movements to high-velocity satellite tracking. The test-bed infrastructure of the system is located in a dedicated astronomical research laboratory at the Poznan University of Technology campus. Local, remote as well as automatic observations can be carried out in the facility.