Robust nonlinear observer for forward kinematics solution of a Stewart platform: an experimental verification

被引:2
作者
Kim, DH
Kang, JY
Lee, KI
机构
[1] Seoul Natl Univ Technol, Dept Mech Design, Seoul 139743, South Korea
[2] Samsung Adv Inst Technol, Electromech Lab, Suwon 440600, South Korea
[3] Seoul Natl Univ, Dept Mech Design & Prod Engn, Seoul 151742, South Korea
关键词
robust nonlinear observer; forward kinematics problem; Stewart platform; practical stability; arithmetic Riccati equation;
D O I
10.1017/S0263574700002691
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
A 6-DOF motion bed is proposed as a nonlinear robust observer to solve the forward kinematics problem of a Stewart platform. The stability of the estimation error dynamics is proved via Lyapunov stability analysis and the error dynamics shows practical stability. An observer design algorithm which tackles the nonlinearity and uncertainty both in the system and in the output is presented by a new arithmetic Riccati equation. The estimation performance for the algorithm is verified using both simulations and experiments. The equation employs the bounding condition computed from the platform dynamics.
引用
收藏
页码:601 / 610
页数:10
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