Markov-parameter-based adaptive control of 3-axis angular velocity in a six-degree-of-freedom stewart platform

2008 ◽  
Author(s):  
Benjamin L. Pence ◽  
Mario A. Santillo ◽  
Dennis S. Bernstein
Keyword(s):  
Adaptive Control ◽  
Angular Velocity ◽  
Stewart Platform ◽  
Degree Of Freedom ◽  
Six Degree Of Freedom ◽  
Markov Parameter

Six Degree of Freedom Active Isolation in Flexible Supporting Structures: Numerical Simulation and Experiment

2003 ◽  
Author(s):  
Yuan Cheng ◽  
Qian Zhou ◽  
Ge-Xue Ren ◽  
Hui Zhang
Keyword(s):  
Stewart Platform ◽  
Degree Of Freedom ◽  
Active Isolation ◽  
Dynamics And Control ◽  
Six Degree Of Freedom ◽  
Multi Body ◽  
And Control ◽  
Flexible Cables ◽  
Base Platform ◽  
Supporting Structures

This paper studies the six degree-of-freedom active isolation of flexible supporting structures using Gough-Stewart platform. The problem arises from a large radio telescope in which the astronomical equipment is mounted on a platform to be stabilized, while the base platform of the mechanism itself is carried by a cable car moving along flexible cables. In this paper, the stabilization problem is equivalent to a dynamics and control problem of multi-body system. A control law of the prediction of the base platform and PD feedback is proposed for the six actuators of the Gough-Stewart platform. Based on numerical results, a model experimental setup has been built up. The control effects are measured with LTD 500 Laser Tracker.

Recursive Composite Adaptation for Robot Manipulators

2012 ◽  
Vol 135 (2) ◽  
Author(s):  
Hanlei Wang
Keyword(s):  
Adaptive Control ◽  
Computational Complexity ◽  
Prediction Error ◽  
Robot Manipulators ◽  
Recursive Algorithm ◽  
Degree Of Freedom ◽  
Inertia Matrix ◽  
Adaptation Law ◽  
Six Degree Of Freedom ◽  
Composite Adaptive Control

In this paper, we investigate the recursive implementation of composite adaptive control for robot manipulators. Via exploitation of the relation between the inertia matrix and the Coriolis and centrifugal matrix, we present the recursive algorithm for the derivation of the filtered manipulator model, which, to our knowledge, is the first result on this point in the literature. With this filtered model, the prediction error of the filtered torque is obtained and injected to the direct adaptation, forming the well-known composite adaptation law, with an acceptable amount of computation O(n2). A six degree-of-freedom (DOF) manipulator is employed as a simulation example to show the performance and the computational complexity of the proposed recursive algorithm.

Dynamic Modeling of a Six Degree-of-Freedom Flight Simulator Motion Base

2015 ◽  
Vol 10 (5) ◽  
Author(s):  
Mauricio Becerra-Vargas ◽  
Eduardo Morgado Belo
Keyword(s):  
Closed Form ◽  
Dynamic Model ◽  
Kinematic Model ◽  
Closed Form Solution ◽  
Stewart Platform ◽  
Degree Of Freedom ◽  
Dynamic Equations ◽  
Flight Simulator ◽  
Simulator Motion ◽  
Six Degree Of Freedom

This paper presents a closed-form solution for the direct dynamic model of a flight simulator motion base. The motion base consists of a six degree-of-freedom (6DOF) Stewart platform robotic manipulator driven by electromechanical actuators. The dynamic model is derived using the Newton–Euler method. Our derivation is closed to that of Dasgupta and Mruthyunjaya (1998, “Closed Form Dynamic Equations of the General Stewart Platform Through the Newton–Euler Approach,” Mech. Mach. Theory, 33(7), pp. 993–1012), however, we give some insights into the structure and properties of those equations, i.e., a kinematic model of the universal joint, inclusion of electromechanical actuator dynamics and the full dynamic equations in matrix form in terms of Euler angles and platform position vector. These expressions are interesting for control, simulation, and design of flight simulators motion bases. Development of a inverse dynamic control law by using coefficients matrices of dynamic equation and real aircraft trajectories are implemented and simulation results are also presented.

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