Position control of a Stewart platform using inverse dynamics control with approximate dynamics

Lee, Se Han; Song, Jae Bok; Choi, Woo Chun; Hong, Daehie

doi:10.1016/s0957-4158(02)00033-8

Cited by 157 publications

(84 citation statements)

References 7 publications

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“…A second crucial issue for the control of parallel robots is the high complexity of their dynamics, that compromises the real-time implementation of u C . Thus, many researchers suggest the simplification of the dynamics model (Caccavale et al, 2003;Lee et al, 2003;Pietsch et al, 2005;Vivas and Poignet, 2005;Wang et al, 2007) to ensure real-time ability. This will increase the uncertainties to be counteracted by using higher feedback action.…”

Section: Motivation For the Proposed Controllermentioning

confidence: 99%

Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory

Abdellatif¹,

Kotlarski²,

Ortmaier³

et al. 2010

Robotics 2010 Current and Future Challenges

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This chapter provides a practical strategy to realize accurate and robust control for 6 DOFs (degrees of freedom) parallel robots. The presented approach consists in two parts. The first basic part is based on the the compensation of the desired dynamics in combination with controller/observer for the single actuators. The passivity formalism offers an excellent framework to design and to tune the closed-loop dynamics, such that the desired behavior is obtained. The basic algorithm is proved to be locally robust towards uncertainties. The second part of the control strategy consists in a sliding mode controller. To keep the practical and computational efficient implementation, the proposed switching control considers explicitly only the friction model. Here we opt for the so called model-decomposition paradigm and we use additional integral action to improve robustness. The proposed approach is substantiated with experimental results demonstrating the effectiveness and success of the strategy that keeps control setup simple and intuitive.

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Section: Motivation For the Proposed Controllermentioning

confidence: 99%

Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory

Abdellatif¹,

Kotlarski²,

Ortmaier³

et al. 2010

Robotics 2010 Current and Future Challenges

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show abstract

“…Parallel manipulators can generally perform better than serial manipulators in terms of stringent stiffness and acceleration requirements [1]. In parallel manipulators, each actuated leg has to carry only a part of the payload, and therefore, the robot can handle heavy load to weight ratios.…”

Section: Introductionmentioning

confidence: 99%

On the control of the KNTU CDRPM: A cable driven redundant parallel manipulator

Gholami¹,

Aref²,

Taghirad³

2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper is devoted to the control of a cable driven redundant parallel manipulator, which is a challenging problem due the optimal resolution of its inherent redundancy. Additionally to complicated forward kinematics, having a wide workspace makes it difficult to directly measure the pose of the end-effector. The goal of the controller is trajectory tracking in a large and singular free workspace, and to guarantee that the cables are always under tension. A control topology is proposed in this paper which is capable to fulfill the stringent positioning requirements for these type of manipulators. Closed-loop performance of various control topologies are compared by simulation of the closed-loop dynamics of the KNTU CDRPM, while the equations of parallel manipulator dynamics are implicit in structure and only special integration routines can be used for their integration. It is shown that the proposed joint space controller is capable to satisfy the required tracking performance, despite the inherent limitation of task space pose measurement.

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“…On the other hand, dynamics of the jacks are not considered in most of the aforementioned research, while they can have a significant effect on the manipulation process, especially for the micro-scale cases with light loads. Dynamics of the jack are studied in [21], while no optimization was employed to control its force with the presented jack dynamics. All of the aforementioned controlling strategies were based on workspace control of the robots, while in experimental tests, joint space control is one of the most significant complementary controllers, which should be considered to provide the acceptable accuracy of the system.…”

Section: Introductionmentioning

confidence: 99%

Closed Loop Optimal Control of a Stewart Platform Using an Optimal Feedback Linearization Method

Tourajizadeh

Yousefzadeh

Tajik

2016

International Journal of Advanced Robotic Systems

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Optimal control of a Stewart robot is performed in this paper using a sequential optimal feedback linearization method considering the jack dynamics. One of the most important applications of a Stewart platform is tracking a machine along a specific path or from a defined point to another point. However, the control procedure of these robots is more challenging than that of serial robots since their dynamics are extremely complicated and non-linear. In addition, saving energy, together with achieving the desired accuracy, is one of the most desirable objectives. In this paper, a proper non-linear optimal control is employed to gain the maximum accuracy by applying the minimum force distribution to the jacks. Dynamics of the jacks are included in this paper to achieve more accurate results. Optimal control is performed for a six-DOF hexapod robot and its accuracy is increased using a sequential feedback linearization method, while its energy optimization is realized using the LQR method for the linearized system. The efficiency of the proposed optimal control is verified by simulating a six-DOF hexapod robot in MATLAB, and its related results are gained and analysed. The actual position of the endeffector, its velocity, the initial and final forces of the jacks and the length and velocity of the jacks are obtained and then compared with open loop and non-optimized systems; analytical comparisons show the efficiency of the proposed methods.

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Position control of a Stewart platform using inverse dynamics control with approximate dynamics

Cited by 157 publications

References 7 publications

Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory

Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory

On the control of the KNTU CDRPM: A cable driven redundant parallel manipulator

Closed Loop Optimal Control of a Stewart Platform Using an Optimal Feedback Linearization Method

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