Title :
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.
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;
Conference_Titel :
Advanced Motion Control, 2006. 9th IEEE International Workshop on
Conference_Location :
Istanbul
Print_ISBN :
0-7803-9511-1
DOI :
10.1109/AMC.2006.1631631
