Position control of a Stewart platform using inverse dynamics control with approximate dynamics

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

doi:10.1016/S0957-4158(02)00033-8

Position control of a Stewart platform using inverse dynamics control with approximate dynamics

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

School of Mechanical Engineering

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

149 Citations (Scopus)

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 (IDC). 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_∞ controller that treats the error as disturbance. The proposed IDC with approximate dynamics combined with H_∞ 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)	605-619
Number of pages	15
Journal	Mechatronics
Volume	13
Issue number	6
DOIs	https://doi.org/10.1016/S0957-4158(02)00033-8
Publication status	Published - 2003 Jul

Keywords

Approximate inverse dynamics
H control
Inverse dynamics control
Stewart platform

ASJC Scopus subject areas

Mechanical Engineering
Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications

Access to Document

10.1016/S0957-4158(02)00033-8

Cite this

@article{8f9bbcf83eb347d69c3b5890c183552d,

title = "Position control of a Stewart platform using inverse dynamics control with approximate dynamics",

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 (IDC). 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∞ controller that treats the error as disturbance. The proposed IDC with approximate dynamics combined with H∞ control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement.",

keywords = "Approximate inverse dynamics, H control, Inverse dynamics control, Stewart platform",

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

note = "Funding Information: This research was supported by the Basic Research Program of the Korea Science and Engineering Foundation (1999-1-304-003).",

year = "2003",

month = jul,

doi = "10.1016/S0957-4158(02)00033-8",

language = "English",

volume = "13",

pages = "605--619",

journal = "Mechatronics",

issn = "0957-4158",

publisher = "Elsevier Limited",

number = "6",

}

TY - JOUR

T1 - Position control of a Stewart platform using inverse dynamics control with approximate dynamics

AU - Lee, Se Han

AU - Song, Jae Bok

AU - Choi, Woo Chun

AU - Hong, Daehie

N1 - Funding Information: This research was supported by the Basic Research Program of the Korea Science and Engineering Foundation (1999-1-304-003).

PY - 2003/7

Y1 - 2003/7

N2 - 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 (IDC). 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∞ controller that treats the error as disturbance. The proposed IDC with approximate dynamics combined with H∞ control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement.

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 (IDC). 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∞ controller that treats the error as disturbance. The proposed IDC with approximate dynamics combined with H∞ control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement.

KW - Approximate inverse dynamics

KW - H control

KW - Inverse dynamics control

KW - Stewart platform

UR - http://www.scopus.com/inward/record.url?scp=0037411212&partnerID=8YFLogxK

U2 - 10.1016/S0957-4158(02)00033-8

DO - 10.1016/S0957-4158(02)00033-8

M3 - Article

AN - SCOPUS:0037411212

SN - 0957-4158

VL - 13

SP - 605

EP - 619

JO - Mechatronics

JF - Mechatronics

IS - 6

ER -

Position control of a Stewart platform using inverse dynamics control with approximate dynamics

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this