Optimal Joint Space Control Design of a Hydraulic Stewart Manipulator

Zhi Yong Qu; Zheng Mao Ye

doi:10.4028/www.scientific.net/AMM.58-60.2438

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 58-60Optimal Joint Space Control Design of a Hydraulic...

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.

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Periodical:

Applied Mechanics and Materials (Volumes 58-60)

Pages:

2438-2441

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.58-60.2438

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Online since:

June 2011

Authors:

Zhi Yong Qu, Zheng Mao Ye

Keywords:

Amplitude Phase Control, Joint Space, Stewart Platform

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References

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