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

Research output: Contribution to journalArticle

143 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 (IDC). 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 controller that treats the error as disturbance. The proposed IDC with approximate dynamics combined with H control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement.

Original languageEnglish
Pages (from-to)605-619
Number of pages15
JournalMechatronics
Volume13
Issue number6
DOIs
Publication statusPublished - 2003 Jul

Keywords

  • Approximate inverse dynamics
  • H control
  • Inverse dynamics control
  • Stewart platform

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Position control of a Stewart platform using inverse dynamics control with approximate dynamics'. Together they form a unique fingerprint.

  • Cite this