Dynamic analysis and control of a Stewart platform manipulator. (English) Zbl 0774.70005
We study the dynamic equations of the Stewart platform manipulator. Because the dynamics are not explicitly given, we use a step-by-step algorithm. However, we give some insight into the structure and properties of these equations: We obtain compact expressions of some coefficients. These expressions should be interesting from a control point of view. A stiffness control scheme is designed for milling application. Some path-planning notions are discussed that take into account singularity positions and the required task.
MSC:
| 70B15 | Kinematics of mechanisms and robots |
| 70E99 | Dynamics of a rigid body and of multibody systems |
| 70Q05 | Control of mechanical systems |
References:
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