Title :
Dynamical analysis & estimator design of 6 DOF Moving Base manipulator
Author :
Tamaz, Saima ; Parveen, Tahira ; Saifullah
Author_Institution :
Nat. Eng. & Sci. Comm., Islamabad, Pakistan
Abstract :
A 6DOF Moving Base manipulator is a parallel manipulator with six variable-length actuators but unlike Stewart Platform both ends of actuators are mounted on moving plates. It dynamical structure is designed to reject the disturbances, which base plate suffers, and keep the top plate leveled with respect to the inertial frame. However the closed kinematics chain and parallel structure linkage structure still provides great rigidity and high force to weight ratio. This paper purposes a dynamical model, with controller for the stabilization. Moreover, an estimator design for the solution of forward kinematics is also presented.
Keywords :
Lyapunov methods; actuators; manipulator dynamics; manipulator kinematics; stability; Stewart platform; closed kinematics chain; estimator design; forward kinematics; manipulator dynamical analysis; moving base manipulator; parallel manipulator; parallel structure linkage structure; stabilization controller; variable-length actuators;
Conference_Titel :
Applied Sciences and Technology (IBCAST), 2009 6th International Bhurban Conference on
Conference_Location :
Islamabad
Print_ISBN :
978-1-4244-8650-2
Electronic_ISBN :
978-969-8741-07-5
