Position control of a stewart-gough platform using inverse dynamics method with full dynamics

Author

Ghobakhloo, A. ; Eghtesad, M. ; Azadi, M.

Author_Institution

Dept. of Mech. Eng., Shiraz Univ.

fYear

0

fDate

0-0 0

Firstpage

50

Lastpage

55

Abstract

The Stewart-Gough platform is a six DOF parallel robot manipulator with a force-to-weight ratio and positioning accuracy far exceeding those of a conventional serial-link arm. In this article, application of an inverse dynamics control scheme Stewart-Gough platform is proposed. Control of the parallel manipulator is an open field and the works reported are not rigorous. Kinematic equations of the robot are presented; full dynamic equations of the Stewart-Gough platform are derived using Lagrange´s formulation approach. Simulation results illustrate the performance of the control algorithm

Keywords

manipulator dynamics; manipulator kinematics; position control; torque control; Lagrange formulation; Stewart-Gough platform; computed torque control; inverse dynamics control scheme; kinematic equations; position control; six DOF parallel robot manipulator; Control systems; Force control; Kinematics; Lagrangian functions; Leg; Manipulator dynamics; Nonlinear equations; Parallel robots; Position control; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2006. 9th IEEE International Workshop on

Conference_Location

Istanbul

Print_ISBN

0-7803-9511-1

Type

conf

DOI

10.1109/AMC.2006.1631631

Filename

1631631