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Design of length measuring system for Stewart platform using new forward kinematics solution

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2 Author(s)
Dastgerdi, H.R. ; Dept. of Mech., Sakht Tajhizate Sepahan, MAPNA Group, Isfahan Univ. of Technol., Isfahan, Iran ; Keshmiri, M.

In this paper, based on new presented approach for forward kinematic problem, length measuring system for Stewart platform is designed. The analysis is performed by using a software platform which models the system dynamics and control. A typical feedback linearization method is used to design the controller system and performance of designed controller is studied numerically with respect to measuring error and parametric uncertainties. To provide required parameters for controller, a new forward kinematic solution is designed and compared with Newton-Raphson method numerically. Based on end effector deviations from desired trajectory, actuator length measuring system is compared with moving platform measuring system, which results in more reliable trajectory tracking of controller in case of actuator length measuring system.

Published in:

Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on

Date of Conference:

7-10 Dec. 2010