NDLI: Adaptive-Robust Control of the Stewart-Gough Platform as a Six DOF Parallel Robot

Content Provider	IEEE Xplore Digital Library
Author	Ghobakhloo, A. Eghtesad, M. Azadi, M.
Copyright Year	2006
Description	Author affiliation: Shiraz Univ., Shiraz (Ghobakhloo, A.; Eghtesad, M.; Azadi, M.)
Abstract	The focus of this paper is on an adaptive-robust tracking control design for a six DOF parallel robot known as Stewart-Gough platform in the presence of nonlinearity and uncertainty. The Stewart-Gough platform is a six DOF parallel robot manipulator with a force-to-weight ratio and positioning accuracy far exceeding those of a conventional serial-link arm. The adaptive-robust control scheme can be thought of as combining the best qualities of the adaptive and the robust control schemes. Kinematic equations of the robot are presented; using Lagrange's formulation approach full dynamic equations of the Stewart-Gough platform are derived. Simulation results illustrate the performance of the control algorithm.
Starting Page	1
Ending Page	6
File Size	4344116
Page Count	6
File Format	PDF
ISBN	1889335339
DOI	10.1109/WAC.2006.375990
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-07-24
Publisher Place	Hungary
Access Restriction	Subscribed
Rights Holder	TSI Press
Subject Keyword	Parallel robots Control design Uncertainty Manipulator dynamics Programmable control Adaptive control Robust control Kinematics Nonlinear equations Lagrangian functions Lagrangian dynamics Stewart-Gough platform adaptive-robust control scheme
Content Type	Text
Resource Type	Article

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