Control of a pneumatically actuated 6-DOF Gough-Stewart platform

Machiani, Jalal Hajipour; Masouleh, Mehdi Tale; Kalhor, Ahmad; Tabrizi, Mahmood Ghafouri; Sanie, Foad

doi:10.1109/icrom.2014.6990895

Cited by 4 publications

(2 citation statements)

References 6 publications

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“…are all constant in a single sampling period, discrete equations can be obtained by discretizing equations (6) and 7as follows:…”

Section: Platform Modelingmentioning

confidence: 99%

“…Two strategies named joint space control and task space control have been proposed to control a Stewart platform. In [6], the desired lengths of actuators of platform has been measured based on solving inverse kinetic problem of the desired trajectory in task space, which developed the joint space control. Task space control can be performed based on: (1) Position and rotation of the movable platform using position, orientation and vision sensors [7], (2) Solving forward kinematic problem (FKP) by the values of sensors [8].…”

Section: Introductionmentioning

confidence: 99%

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Research on Foot Trajectory Tracking of Parallel Wheel-legged Robot based on Dynamic Model Predictive Control

Liu

Wang²,

Chen

et al. 2020

Preprint

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In this paper, the foot trajectory tracking control for parallel structure of the sixwheel-legged robot is investigated. The accuracy of trajectory tracking and dynamic responsewith heavy load are the main challenges of parallel mechanism. To guarantee the tracking performance and improve dynamic response frequency to posture input, a method based on dynamic model predictive control is proposed under the establishment of dynamic model of single leg. Newton-Eulerian equation is derived and converted into a discrete state space expression for velocity loop control, appropriate parameters including prediction time domain, control time domain and proportional gain are determined by co-simulation. Desired sinusoidal trajectories with different frequencies are tracked with satisfactory performance in terms of accuracy and response frequency. Finally, comparative experimental results using BIT-NAZA robot derived from the proposed control strategy indicate that the delay error and amplitude error are better than PI controller under the same conditions. This research can provide theoretical and engineering guidance for accurate planning of intelligent robot, and facilitate the control performance of wheel-legged robot in practical system.

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“…are all constant in a single sampling period, discrete equations can be obtained by discretizing equations (6) and 7as follows:…”

Section: Platform Modelingmentioning

confidence: 99%