Controller design for a Stewart platform using small workspace characteristics

Se Han Lee; Jae Bok Song; Woo Chun Choi; Daehie Hong

doi:10.1109/IROS.2001.976394

Controller design for a Stewart platform using small workspace characteristics

Research output: Contribution to journal › Article › peer-review

Abstract

Configuration-dependent nonlinear coefficient matrices in the dynamic equation of a robot manipulator impose computational burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as a Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range, nonlinear coefficient matrices can be approximated to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the error as disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement.

Original language	English
Pages (from-to)	2184-2189
Number of pages	6
Journal	IEEE International Conference on Intelligent Robots and Systems
Volume	4
DOIs	https://doi.org/10.1109/IROS.2001.976394
Publication status	Published - 2001

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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10.1109/IROS.2001.976394

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abstract = "Configuration-dependent nonlinear coefficient matrices in the dynamic equation of a robot manipulator impose computational burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as a Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range, nonlinear coefficient matrices can be approximated to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the error as disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement.",

author = "Lee, \{Se Han\} and Song, \{Jae Bok\} and Choi, \{Woo Chun\} and Daehie Hong",

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AU - Song, Jae Bok

AU - Choi, Woo Chun

AU - Hong, Daehie

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AB - Configuration-dependent nonlinear coefficient matrices in the dynamic equation of a robot manipulator impose computational burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as a Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range, nonlinear coefficient matrices can be approximated to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the error as disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement.

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JO - IEEE International Conference on Intelligent Robots and Systems

JF - IEEE International Conference on Intelligent Robots and Systems

ER -

Controller design for a Stewart platform using small workspace characteristics

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