Paper Title:
Optimal Joint Space Control Design of a Hydraulic Stewart Manipulator
  Abstract

This paper presents an algorithm to develop a mission-based optimal joint space control for a Stewart manipulator. The proposed algorithm consists of two optimization phases. The first phase seeks an inverse kinematic model and controller for the closed loop control of a Stewart manipulator using a feedback value. The second phase optimally tunes the controller called amplitude phase control (apc) in order to meet special mission requirements. Iteration algorithm is used in this phase as the optimization method. The proposed amplitude phase control optimal joint space control shows the capability to reduce the error in tracking the sin signals.

  Info
Periodical
Edited by
Qi Luo
Pages
2438-2441
DOI
10.4028/www.scientific.net/AMM.58-60.2438
Citation
Z. Y. Qu, Z. M. Ye, "Optimal Joint Space Control Design of a Hydraulic Stewart Manipulator", Applied Mechanics and Materials, Vols. 58-60, pp. 2438-2441, 2011
Online since
June 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Li Xun Zhang, Gang Wang, Li Quan Wang, Dong Liang Chen, De Feng Liu
Abstract:In this paper, multi-legged walking machine is simplified as one leg, which the whole machine is constructed by the modularization...
629
Authors: Xiu Ying Han, Ai Fang Guo
Chapter 13: Mechanical Control and Information Processing Technology
Abstract:It is difficult to obtain analytical solution to forward kinematics for parallel mechanism, and the speed of the solution based on...
1735
Authors: Pouya Jamali, Kourosh H. Shirazi
Chapter 6: Robotics: Modelling, Simulation etc.
Abstract:In this paper, virtual prototype modeling, simulation and optimization of a 3 DOF SCARA robot as an example of robot manipulators, based on...
383
Authors: S. Nader Nabavi, Alireza Akbarzadeh, Saeed Abolghasemi
Chapter 6: Robotics: Modelling, Simulation etc.
Abstract:In this paper, kinematic relationships for a 3-PRR planar parallel robot are first presented. The robot dynamics equations are formulated...
414
Authors: Zhen Hua Qin, Zhi You Feng
Chapter 3: Robotics and its Motor System
Abstract:Electromechanical coupling model of the parallel manipulator is nonlinear, strong coupling, multiple input and multiple output. In this...
586