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Trajectory-tracking control of semi-regular Stewart platform manipulator

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cris.author.scopus-author-id57192164940
cris.author.scopus-author-id7402057840
cris.virtual.author-orcid#PLACEHOLDER_PARENT_METADATA_VALUE#
cris.virtual.author-orcid0000-0003-4462-8839
cris.virtual.department#PLACEHOLDER_PARENT_METADATA_VALUE#
cris.virtual.departmentIndian Institute of Technology, Madras
cris.virtualsource.author-orcid#PLACEHOLDER_PARENT_METADATA_VALUE#
cris.virtualsource.author-orcidd714921b-55f9-4718-bc08-73abb6a3d7c2
cris.virtualsource.department#PLACEHOLDER_PARENT_METADATA_VALUE#
cris.virtualsource.departmentd714921b-55f9-4718-bc08-73abb6a3d7c2
dc.contributor.authorAnwar, Sadiq Mohamed
dc.contributor.authorSandipan Bandyopadhyay
dc.date.accessioned2023-09-20T05:43:14Z
dc.date.available2023-09-20T05:43:14Z
dc.date.issued01-01-2011
dc.description.abstractTrajectory-tracking control of parallel manipulators is more difficult than in the case of serial ones due to the presence of the loop-closure constraints and constraint forces resulting from them. One needs to eliminate these forces to get to the equation of motion, and then apply a control scheme. In this paper, such a control scheme is presented through application on a semi-regular Stewart platform manipulator (SRSPM). The manipulator has six degrees-of-freedom; however, it is modelled by a system of 18 coupled nonlinear ordinary differential equations (ODE) using the constrained Lagrangian formulation. The model is then linearised through feedback, and controlled by a linear PD servo scheme. Numerical simulations over a non-singular path show that the scheme is fairly accurate, at the cost of being computationally expensive. The scheme is general in nature, and as such, it is expected to work in the case of other parallel manipulators as well.
dc.identifier.scopus2-s2.0-84998774673
dc.identifier.urihttps://apicris.irins.org/handle/IITM2023/53858
dc.relation.ispartofseries15th National Conference on Machines and Mechanisms, NaCoMM 2011
dc.source15th National Conference on Machines and Mechanisms, NaCoMM 2011
dc.subjectComputed torque control
dc.subjectControl-law partitioning
dc.subjectFeedback linearisation
dc.subjectLagrangian dynamics
dc.subjectParallel manipulator
dc.subjectStewart platform
dc.subjectTrajectorytracking
dc.titleTrajectory-tracking control of semi-regular Stewart platform manipulator
dc.typeConference Proceeding
dspace.entity.typePublication
oairecerif.author.affiliation#PLACEHOLDER_PARENT_METADATA_VALUE#
oairecerif.author.affiliationIndian Institute of Technology, Madras
person.affiliation.cityChennai
person.affiliation.id60025757
person.affiliation.nameIndian Institute of Technology Madras
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