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Modeling, simulation, and control of a hydraulic Stewart platform

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2 Author(s)
D. Li ; Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada ; S. E. Salcudean

This paper describes the modeling, simulation, and control of an inverted, ceiling-mounted Stewart platform, designed to be a one-person motion simulator. The dynamic equations of the Stewart platform are derived using the virtual work principle. It is shown by simulations that the leg dynamics can be neglected. A model of the electrohydraulic actuator is derived and then verified using experimental data. A linkspace pressure-feedback controller is proposed for high performance with good stability robustness. With the above controller, the small-motion position bandwidth of the platform can reach 9 Hz along the vertical axis for a payload of about 140 kg

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997