Controller design for a Stewart platform using small workspace characteristics

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Citations (Scopus)

Abstract

Configuration-dependent nonlinear coefficient matrices in the dynamic equation of a robot manipulator impose computational burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as a Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range, nonlinear coefficient matrices can be approximated to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the error as disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2184-2189
Number of pages6
Volume4
Publication statusPublished - 2001 Dec 1
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period01/10/2901/11/3

Fingerprint

Controllers
Manipulators
Robots

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Lee, S. H., Song, J-B., Choi, W. C., & Hong, D. (2001). Controller design for a Stewart platform using small workspace characteristics. In IEEE International Conference on Intelligent Robots and Systems (Vol. 4, pp. 2184-2189)

Controller design for a Stewart platform using small workspace characteristics. / Lee, Se Han; Song, Jae-Bok; Choi, Woo Chun; Hong, Daehie.

IEEE International Conference on Intelligent Robots and Systems. Vol. 4 2001. p. 2184-2189.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lee, SH, Song, J-B, Choi, WC & Hong, D 2001, Controller design for a Stewart platform using small workspace characteristics. in IEEE International Conference on Intelligent Robots and Systems. vol. 4, pp. 2184-2189, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States, 01/10/29.
Lee SH, Song J-B, Choi WC, Hong D. Controller design for a Stewart platform using small workspace characteristics. In IEEE International Conference on Intelligent Robots and Systems. Vol. 4. 2001. p. 2184-2189
Lee, Se Han ; Song, Jae-Bok ; Choi, Woo Chun ; Hong, Daehie. / Controller design for a Stewart platform using small workspace characteristics. IEEE International Conference on Intelligent Robots and Systems. Vol. 4 2001. pp. 2184-2189
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