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Vibration control of Gough-Stewart platform on flexible suspension

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3 Author(s)
Yuan Cheng ; Dept. of Eng. Mech., Tsinghua Univ., Beijing, China ; Gexue Ren ; ShiLiang Dai

Studies the vibration control of the Gough-Stewart platform on flexible supporting structures. The distinct characteristic of this application is that the two platforms are dynamically coupled. A proportional derivative control law based on the position prediction is used in the system. The control effects are evaluated by comparing the root mean square responses of the two platforms.

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:19 ,  Issue: 3 )