Current Search: Marquis, Lawrence Paul. (x)
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Title
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Development of a controller for a Stewart platform.
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Creator
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Marquis, Lawrence Paul., Florida Atlantic University, Masory, Oren, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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A Stewart platform is a six degree of freedom robot manipulator with its six links arranged in a parallel configuration. A dynamic model for the plant of each link, which consists of an amplifier, an electrohydraulic servo valve, and a hydraulic actuator, is found from open-loop step and frequency responses. To determine a model for the complete closed loop system, integrators located in the link input and feedback paths were added to the plant's model. PID controllers were designed to...
Show moreA Stewart platform is a six degree of freedom robot manipulator with its six links arranged in a parallel configuration. A dynamic model for the plant of each link, which consists of an amplifier, an electrohydraulic servo valve, and a hydraulic actuator, is found from open-loop step and frequency responses. To determine a model for the complete closed loop system, integrators located in the link input and feedback paths were added to the plant's model. PID controllers were designed to increase the system's bandwidth. Once control of the individual links was achieved, control algorithms were developed to control the motion of Stewart platform. The algorithm would move the platform through its initialization sequence, then control platform velocity, as dictated by the user.
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Date Issued
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1992
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PURL
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http://purl.flvc.org/fcla/dt/14849
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Subject Headings
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Manipulators (Mechanism), Robots--Control systems
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Format
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Document (PDF)
