제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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- Pages.1611-1616
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- 1991
The design of six degrees of freedom stewart motion platform using high power electro-hydraulic servo control
- Kim, Young-Dae (Agency for Defence Development) ;
- Lee, Kwan-Sup (Agency for Defence Development) ;
- Kim, Chung-Young (Agency for Defence Development)
- 발행 : 1991.10.01
초록
A high power stewart platform is designed and manufactured to simulate the 6 degrees of freedom motion of moving vehicle. This paper describes the design of such a motion system including kinematic and kinetic analysis, real time servo control mechanical and hydraulic system configuration, and techniques of regeneration of test records. Discussions are also presented for an algorithm called remote parameter control, which has been developed to compensate the dynamic delay of the electro-hydraulic servo actuators and the nonlinearities of stewart platform.
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