Robust Adaptive Control of the Stewart-Gough Robot in the Task Space

被引：0

作者：

Yime, Eugenio ^{[1
]}

Saltaren, Roque ^{[2
]}

Diaz, James ^{[3
]}

机构：

[1] Univ Atlantico, Klm 7 Ant,Via Pto Colombia, Barranquilla, Colombia

[2] Univ Politecn Madrid, E-28006 Madrid, Spain

[3] BMT Designers and Planners Inc, Arlington, VA 22204 USA

来源：

2010 AMERICAN CONTROL CONFERENCE | 2010年

关键词：

TRACKING CONTROL; PLATFORM MANIPULATOR; MACHINE; MODEL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the robust adaptive control of the Stewart-Gough platform based on the task space dynamic equations. These equations were obtained using the virtual work approach, and include all the thirteen bodies presented in the platform, i.e. two bodies per each leg and the upper ring. The performance of the robust adaptive control law is evaluated using a sinusoidal path for position and orientation of the upper ring. Simulation were carried out to show the performance of the controller.

引用

页码：5248 / 5253

页数：6

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