DOI QR코드

DOI QR Code

Model-Based Control System Design and Sliding Mode Control of Stewart Platform Manipulator

운동방정식을 기저로 한 스튜워트 플랫폼 운동장치의 제어시스템 설계 및 슬라이딩 모드제어

Lee, Chong-Won;Kim, Nag-In
이종원;김낙인

  • Published : 1999.06.01

Abstract

A high speed tracking control system for 6-6 Stewart platform manipulator is designed for performing the model based joint-axis sliding mode control. Because of the complex dynamics and kinematics of the Stewart platform manipulator, two computer systems, consisting of a PC and a DSP, are adopted, so that real time tasks are run in synchronous and asynchronous modes. It is experimentally proven that the proposed control system makes the convenience in implementation of model based tracking control, so that it can achieve effective tracking control under relatively high speed and additional payload conditions.

Keywords

Stewart Platform Manipulator;Joint-axis Sliding Mode Control;Forward Kinematics;Tracking Control;Control System