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

被引：155

作者：

Lee, SH ^{[1
]}

Song, JB ^{[1
]}

Choi, WC ^{[1
]}

Hong, DH ^{[1
]}

机构：

[1] Korea Univ, Dept Mech Engn, Seoul 136701, South Korea

来源：

MECHATRONICS | 2003年 / 13卷 / 06期

关键词：

Stewart platform; inverse dynamics control; H-infinity control; approximate inverse dynamics;

D O I：

10.1016/S0957-4158(02)00033-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

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-infinity controller that treats the error as disturbance. The proposed IDC 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. (C) 2002 Elsevier Science Ltd. All rights reserved.

引用

页码：605 / 619

页数：15

共 11 条

[1]

ASADA H, 1985, ROBOT ANAL CONTROL

[2]

Craig J. J, 1988, Adaptive control of mechanical manipulators

[3]

Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach [J].