Title :
Control Design for a Pneumatically Actuated Parallel Link Manipulator
Author :
Grewal, K.S. ; Dixon, R. ; Pearson, J.
Author_Institution :
Dept. of Electron. & Electr. Eng., Loughborough Univ., Loughborough, UK
Abstract :
This paper is concerned with the practical application of control to a pneumatically actuated Stewart-Gough platform with 6 Degrees of Freedom (DOF). Two control approaches for motion control of the platform are presented using a classical control technique and a modern control technique. The control schemes experimental results are compared showing that either approach is suitable but with LQG giving slightly better performance.
Keywords :
linear quadratic Gaussian control; manipulators; motion control; pneumatic actuators; 6 degrees of freedom; LQG; Stewart-Gough platform; classical control technique; modern control technique; motion control; pneumatically actuated parallel link manipulator; Equations; Gain; Mathematical model; Pistons; Pneumatic systems; Valves; LQG control; Modeling; PI control; Stewart-Gough platform; pneumatic; real-time;
Conference_Titel :
Systems Engineering (ICSEng), 2011 21st International Conference on
Conference_Location :
Las Vegas, NV
Print_ISBN :
978-1-4577-1078-0
DOI :
10.1109/ICSEng.2011.16
