Title :
Modeling, simulation, and control of a hydraulic Stewart platform
Author :
Li, D. ; Salcudean, Septimiu E.
Author_Institution :
Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
This paper describes the modeling, simulation, and control of an inverted, ceiling-mounted Stewart platform, designed to be a one-person motion simulator. The dynamic equations of the Stewart platform are derived using the virtual work principle. It is shown by simulations that the leg dynamics can be neglected. A model of the electrohydraulic actuator is derived and then verified using experimental data. A linkspace pressure-feedback controller is proposed for high performance with good stability robustness. With the above controller, the small-motion position bandwidth of the platform can reach 9 Hz along the vertical axis for a payload of about 140 kg
Keywords :
Jacobian matrices; actuators; electrohydraulic control equipment; feedback; hydraulic systems; manipulator dynamics; manipulator kinematics; pressure control; simulation; Jacobian matrix; dynamics; electrohydraulic actuators; hydraulic Stewart platform; kinematics; linkspace pressure-feedback; modeling; motion simulator; Actuators; Bandwidth; Electrohydraulics; Equations; Leg; Motion control; Payloads; Pressure control; Robust control; Robust stability;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606801
