Name
Abstract | ||
|---|---|---|
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 link-space 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 9Hz along the vertical axis for a payload of about 140 kg. |
Year | DOI | Venue |
|---|---|---|
1997 | 10.1109/ROBOT.1997.606801 | 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4 |
Keywords | Field | DocType |
kinematics,hydraulic systems,jacobian matrix,feedback,dynamics,payloads,leg,stewart platform,modeling,robust control,simulation,actuators,motion control,bandwidth | Motion control,Control theory,Control theory,Simulation,Modeling and simulation,Control engineering,Engineering,Stewart platform,Robust control,Virtual work,Motion simulator,Actuator | Conference |
Volume | Issue | ISSN |
4 | 1 | 1050-4729 |
Citations | PageRank | References |
18 | 3.95 | 5 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| D. Li | 1 | 18 | 3.95 |
| S. E. Salcudean | 2 | 920 | 123.70 |