© The Institution of Engineering and Technology
This study deals with the dynamic modelling and task space control of the Stewart–Gough platform. The dynamic equations were obtained using the virtual work approach, and include all the 13 presented in the platform, that is, two bodies per each leg and the upper ring. The results show some similarities in the dynamic model of serial and parallel robots, making it possible to extend the control theory of serial robot to the Stewart–Gough platform. To show this, an adaptive control law is proposed to control the parallel platform. The law is obtained from the dynamical equation and its performance is tested using a sinusoidal path for position and orientation of the upper ring of parallel robot. Some additional simulations are carried out to demonstrate a well-behaved controller.
References
-
-
1)
-
B. Xian ,
M. de Queiroz ,
D. Dawson ,
I. Walker
.
Task-space tracking control of robot manipulators via quaternion feedback.
IEEE Trans. Robot. Autom.
,
1 ,
160 -
167
-
2)
-
Garagic, D., Srinivasan, K.: `Contouring control of Stewart platform based machine tools', Proc. 2004 American Control Conf., 2004, p. 3831–3838.
-
3)
-
J.S. Yuan
.
Closed-loop manipulator control using quaternion feedback.
IEEE J. Robot. Autom.
,
4 ,
434 -
440
-
4)
-
Lee, S.-H., Song, J.-B., Choi, W.-C., Hong, D.: `Controller design for a Stewart platform using small workspace characteristics', Proc. 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2001, p. 2184–2189.
-
5)
-
B. Dasgupta ,
T.S. Mruthyunjaya
.
The stewart platform manipulator: a review.
Mech. Mach. Theory
,
1 ,
15 -
40
-
6)
-
E. Yime ,
R. Saltaren
.
(2008)
Forward and inverse dynamic model of the Stewart–Gough robot.
-
7)
-
K. Harib ,
K. Srinivasan
.
Kinematic and dynamic analysis of stewart platform-based machine tool structures.
Robotica
,
5 ,
541 -
554
-
8)
-
F.L. Lewis ,
D.M. Dawson ,
C.T. Abdallah
.
(2003)
Robot manipulator control: theory and practice.
-
9)
-
Huang, C.-I., Fu, L.-C.: `Adaptive backstepping tracking control of the Stewart platform', Proc. 43rd IEEE Conf. on Decision and Control, 2004, p. 5228–5233.
-
10)
-
J. Wanga ,
J. Wu ,
L. Wanga ,
T. Lia
.
Simplified strategy of the dynamic model of a 6-ups parallel kinematic machine for real-time control.
Mech. Mach. Theory
,
9 ,
1119 -
1140
-
11)
-
C. Alvarez ,
R. Saltaren ,
R. Aracil ,
C. Garcia
.
Concepcin, desarrollo y avances en el control y navegacin de robots submarinos paralelos: El robot remo-i.
Rev. Iberoamericana Autom. Inf. Ind.
,
92 -
100
-
12)
-
Y. Ting ,
Y.-S. Chen ,
H.-C. Jar
.
Modeling and control for a Gough-Stewart platform cnc machine.
J. Robot. Syst.
,
11 ,
609 -
623
-
13)
-
J. Nakanishi ,
R. Cory ,
M. Mistry ,
J. Peters ,
S. Schaal
.
Operational space control: a theorical and emperical comparison.
Int. J. Robot. Res.
,
6 ,
737 -
757
-
14)
-
Ting, Y., Chen, Y.-S., Wang, S.-M.: `Task-space control algorithm for Stewart platform', Proc. 38th IEEE Conf. on Decision and Control, 1999, p. 3857–3862.
-
15)
-
S.-H. Lee ,
J.-B. Song ,
W.-C. Choi ,
D. Hong
.
Position control of a Stewart platform using inverse dynamics control with approximate dynamics.
Mechatronics
,
6 ,
605 -
619
-
16)
-
F. Caccavale ,
C. Natale ,
B. Siciliano ,
L. Villani
.
Resolved-acceleration control of robot manipulators: a critical review with experiments.
Robotica
,
5 ,
565 -
573
-
17)
-
I. Davliakosa ,
E. Papadopoulos
.
Model-based control of a 6-dof electrohydraulic Stewartgough platform.
Mech. Mach. Theory
,
11 ,
1385 -
1400
-
18)
-
Iqbal, S., Bhatti, A.I.: `Robust sliding-mode controller design for a Stewart platform', Proc. Int. Bhurban Conf. on Applied Sciences and Technology, 2007, p. 155–160.
-
19)
-
Sirouspour, M.R., Salcudean, S.E.: `Nonlinear control of a hydraulic parallel manipulator', Proc. 2001 IEEE Int. Conf. on Robotics and Automation, 2001, p. 3760–3765.
-
20)
-
Kang, J.-Y., Kim, D., Lee, K.-I.: `Robust tracking control of Stewart platform', Proc. 35th IEEE Decision and Control, 1996, p. 3014–3019.
-
21)
-
Li, W., Slotine, J.: `Parameter estimation strategies for robotic applications', ASME Winter Annual Meeting, 1987.
-
22)
-
Kim, N.-I., Lee, C.-W.: `High speed tracking control of Stewart platform manipulator via enhanced sliding mode control', Proc. 1998 IEEE Int. Conf. on Robotics and Automation, 1998, p. 2716–2721.
-
23)
-
L.W. Tsai
.
Solving the inverse dynamics of a Stewart–Gough manipulator by the principle of virtual work.
ASME J. Mech. Des.
,
1 ,
3 -
9
-
24)
-
Ghobakhloo, A., Eghtesad, M., Azadi, M.: `Position control of a Stewart–Gough platform using inverse dynamics method with full dynamics', Proc. Ninth IEEE Int. Workshop on Advanced Motion Control, 2006, p. 50–55.
-
25)
-
Ghobakhloo, A., Eghtesad, M., Azadi, M.: `Adaptive-robuts control of the Stewart–Gough platform as a six dof parallel robot', Proc. World Automation Congress (WAC) 2006, 2006, p. 1–6.
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2010.0622
Related content
content/journals/10.1049/iet-cta.2010.0622
pub_keyword,iet_inspecKeyword,pub_concept
6
6