Title :
Controller design for a Stewart platform using small workspace characteristics
Author :
Lee, Se-Han ; Song, Jae-Bok ; Choi, Woo-Chun ; Hong, Daehie
Author_Institution :
Dept. of Mech. Eng., Korea Univ., Seoul, South Korea
Abstract :
Configuration-dependent nonlinear coefficient matrices in the dynamic equation of a robot manipulator impose computational burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as a Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range, nonlinear coefficient matrices can be approximated to constant ones. The modeling errors caused by such approximation are compensated for by an H-infinity controller that treats the error as disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement
Keywords :
H∞ control; control system synthesis; manipulator dynamics; matrix algebra; position control; tracking; H-infinity controller; Stewart platform; approximate dynamics; configuration-dependent nonlinear coefficient matrices; controller design; dynamic equation; fast tracking control; inverse dynamics controller; modeling errors; small workspace characteristics; tracking performance; Acceleration; Aerospace simulation; Error correction; H infinity control; Kinematics; Leg; Manipulator dynamics; Mechanical engineering; Nonlinear equations; Robots;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976394
