Title :
A flexible controller for a Stewart platform
Author :
Graf, Renté ; Vierling, Ralph ; Dillmann, Rüdiger
Author_Institution :
Inst. for Realtime-Syst. & Robotics, Karlsruhe Univ., Germany
Abstract :
Stewart platforms are mostly used for simulator applications connected to a large graphic computer. This application is fixed and can not be greatly modified. This paper deals with a new concept of a controller for the Stewart platform that is used in multimedia applications. The controller has to be very flexible, since various and very different applications will run on the Stewart platform. First, the kinematics and dynamics of the platform used are explained. After describing the necessary calibration the new concept for the control architecture is developed. Finally, the filtering technique for the generation of movements in order to simulate acceleration is presented
Keywords :
calibration; computerised control; filtering theory; manipulator dynamics; manipulator kinematics; multimedia systems; simulation; Stewart platform; acceleration; calibration; control architecture; dynamics; flexible controller; kinematics; multimedia systems; parallel manipulators; Acceleration; Aerospace simulation; Art; Calibration; Graphics; Kinematics; Leg; Payloads; Robots; Servomechanisms;
Conference_Titel :
Knowledge-Based Intelligent Electronic Systems, 1998. Proceedings KES '98. 1998 Second International Conference on
Conference_Location :
Adelaide, SA
Print_ISBN :
0-7803-4316-6
DOI :
10.1109/KES.1998.725892
