By Topic

Task-space control algorithm for Stewart platform

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Yung Ting ; Dept. of Mech. Eng., Chung Yuan Christian Univ., Chung Li, Taiwan ; Yu-Shin Chen ; Shih-Ming Wang

A concise dynamic modeling and control on the task space for a six-leg Stewart platform is developed. Via the measurement on the legs the pose of end-effector can be computed with small incremental variation by the forward kinematics method. An explicit formulation including the significant physical terms for the model reference adaptive scheme is completed. A filter dynamics technique is used so that there is no need of acceleration measurement. The control algorithm is designed based upon the Lyapunov method in association with the index of parameter adaptation and tracking performance. Simulations indicate that not only the tracking error can be approached convergent to zero, but also the unknown parameters can be efficiently estimated

Published in:

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on  (Volume:4 )

Date of Conference:

1999