Tracking control for a Stewart platform prototype

Rossell, Josep M.; Quiñonero, Francisco Palacios; Massegú, Josep Rubió; Rodrigo, Jesús Vicente

doi:10.1109/icamimia.2015.7508003

Cited by 3 publications

(1 citation statement)

References 16 publications

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“…These results demonstrate that the proposed control acts successfully and with high accuracy. A numerical simulation of the same platform by using Matlab can be found in [14].…”

Section: Resultsmentioning

confidence: 99%

An effective strategy of real-time vision-based control for a Stewart platform

Rossell

Rodrigo

Massegú

et al. 2018

2018 IEEE International Conference on Industrial Technology (ICIT)

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Abstract-A Stewart platform is a kind of parallel robot which can be used for a wide variety of technological and industrial applications. In this paper, a Stewart platform designed and assembled at the Universitat Politècnica de Catalunya (UPC) by our research group is presented. The main objective is to overcome the enormous difficulties that arise when a realtime vision-based control of a fast moving object placed on these mechanisms is required. In addition, a description of its geometric characteristics, the calibration process, together with an illustrative experiment to demonstrate the good behavior of the platform is given.

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“…These results demonstrate that the proposed control acts successfully and with high accuracy. A numerical simulation of the same platform by using Matlab can be found in [14].…”

Section: Resultsmentioning

confidence: 99%

An effective strategy of real-time vision-based control for a Stewart platform

Rossell

Rodrigo

Massegú

et al. 2018

2018 IEEE International Conference on Industrial Technology (ICIT)

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Developing a Mechatronics-Twin Framework for Effective Exploration of Operational Behaviors of Prosthetic Sockets

Chen,

Ottikkutti,

Tahmasebi

2024

SN COMPUT. SCI.

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A Stewart platform is a six-degree-of-freedom parallel manipulator widely used as the motion base for flight simulators and antenna positioning systems, among others. This work presents a novel mechatronics-twin framework that integrates such a manipulator with advanced biomechanical models and simulations for effective exploration of operational behaviors of prosthetic sockets with amputees. By means of the biomechanical models and simulations, the framework allows the users to first analyze the fundamental operational characteristics of individual amputees according to their specific body geometries, pelvis-femur structures, and sizes of transfemoral sockets. Such operational characteristics are then fed to one Stewart platform as the reference control signals for the generation of dynamic loads and behaviors of prosthetic sockets that are otherwise difficult to observe or realize with the real amputees. Experiments in form of integration testing show that the proposed control strategy is capable of generating expected dynamic operational conditions. Currently, the mechatronics-twin framework supports a wide range of biomechanical configurations and the quantification of the respective intra-socket load conditions for socket design optimization and anomaly detection.

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THREE DEGREE OF FREEDOM LEG DESIGN FOR QUADRUPED ROBOTS AND FRACTIONAL ORDER PID (PIλDμ) BASED CONTROL

Şen¹,

Bakırcıoğlu

Kalyoncu³

2020

Konya Journal of Engineering Sciences

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Quadruped robots are legged mobile robots that increase their popularity in robotic and control areas due to their complex dynamic structure with high mobility in different terrain conditions compared to wheeled systems. In this study; A 3-DoF linear leg model and its control are provided in order to enable quick and effectively simulate about on such subjects that walking planning, foot trajectory design and body stability control of the robot. A realistic physical model with parameters such as the dimensions, masses, inertia of limbs and the stiffness and damping values of joints is designed and simulated on Matlab/Simulink/Simscape environment. By taking into account the angular position ranges of the joints required for the robot to perform a standard step trajectory during the walk, the linear State-Space model of the system (torque input-angular position output) is obtained using the linearization tools over the physical model. The unit step responses of the physical model are compared with the obtained linear model responses under constant torque input and it is understood to give similar results with small error values. Using the linear model, the angular position control of the system is achieved with PIλDµ controllers designed by selecting various parameters of fraction orders as comparatively the classical PID controller. Simulation results are presented and investigated.

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Tracking control for a Stewart platform prototype

Cited by 3 publications

References 16 publications

An effective strategy of real-time vision-based control for a Stewart platform

An effective strategy of real-time vision-based control for a Stewart platform

Developing a Mechatronics-Twin Framework for Effective Exploration of Operational Behaviors of Prosthetic Sockets

THREE DEGREE OF FREEDOM LEG DESIGN FOR QUADRUPED ROBOTS AND FRACTIONAL ORDER PID (PIλDμ) BASED CONTROL

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