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A 6DOF Moving Base manipulator is a parallel manipulator with six variable-length actuators but unlike Stewart Platform both ends of actuators are mounted on moving plates. It dynamical structure is designed to reject the disturbances, which base plate suffers, and keep the top plate leveled with respect to the inertial frame. However the closed kinematics chain and parallel structure linkage structure still provides great rigidity and high force to weight ratio. This paper purposes a dynamical model, with controller for the stabilization. Moreover, an estimator design for the solution of forward kinematics is also presented.