• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.825-830
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• 2004

Kinematic calibration of Gough-Stewart platform using a new measurement device is presented in this paper. The device simultaneously measures components of position and orientation using commercially available gadgets. Additional kinematic parameters are defined to model the sources of inaccuracies for the proposed measurement device. Computer simulations reveal that all kinematic parameters of the Gough-Stewart platform and the additional kinematic parameters of the measurement device can be identified with the partial pose measurements of the device. Results also show that identification is robust for the initial errors and the noise in measurements. The device also facilitates the automation of easurement procedure.

• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.689-701
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• 2008

In this paper, a fully adaptive feedforward feedback synchronized tracking control approach is developed for precision tracking control of 6 degree of freedom (6DOF) Stewart Platform. The proposed controller is designed in decentralized form for implementation simplicity. Interconnections among different subsystems and gravity effect are eliminated by the feedforward control action. Feedback control action guarantees the stability of the system. The gains of the proposed controller can be updated on line without requiring any prior knowledge of Stewart Platform manipulator. Thus the control approach is claimed to be fully adaptive. By employing cross-coupling error technology, the proposed approach can guarantee both of position error and synchronization error converge to zero asymptotically. Because the actuators work in synchronous manner, the tracking performances are improved. The corresponding stability analysis is also presented in this paper. Finally, simulation is demonstrated to verify the effectiveness of the proposed approach.

• 대한기계학회논문집A
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• 제23권6호
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• pp.903-911
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• 1999

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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.28-31
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• 1996

We propose an estimator design method of Stewart platform, which gives the 6DOF, positions and velcities of Stewart platform from the measured cylinder length. The solution of forward kinematics is not solved yet as a useful realtime application tool because of the complexity of the equation with multiple solutions. Hence we suggest an nonlinear estimator for the forward kinematics solution using Luenberger observer with nonlinear error correction term. But the way of residual gain selection of the estimator is not clear, so we suggest an algebraic Riccati equation for gain matrix using Lyapunov method. This algorithm gives the sufficient condition of the stability of error dynamics and can be extended to general nonlinear system.

• 한국정밀공학회지
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• 제22권8호
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• pp.118-127
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• 2005

A spatial 3 degrees-of-freedom mechanism employing Stewart Platform structure is proposed: the mechanism maintains the 3- RRPS structure of Stewart Platform but has an additional passive PRR serial sub-chain at the center area of the mechanism in order to constrain the output motion of the mechanism within the output motion space of the added PRR serial subchain. The forward and reverse position analyses of the mechanism are performed. Then the mechanism having both the forward and the reverse closed-form solutions is suggested and its closed form solutions are derived. It is confirmed, through the kinematic analysis of those two proposed mechanisms via kinematic isotropic index, that both the proposed mechanisms have fairly good kinematic characteristics compared to the existing spatial 3-DOF mechanisms in literature.

• 소음진동
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• 제9권1호
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• pp.49-59
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• 1999

The mechanism of Stewart platform has many advantages for kinematic analysis and control. Thus there have been many research about employing this mechanism in the new type of machine tool. Since the vibration caused during the manufacturing process has a severely adverse effect on the machining precision. it is very important to enhance the vibrational characteristics. However. it is not easy to use finite element model for the vibration analysis. That is because the vibration behaviors of the structure vary in a complicated manner according as the length of links varies. In this paper, a Stewart platform type of machine tool is modeled in finite element method and then updated by using the experimental modal data. Finally. the static and dynamic characteristics of the finite element model are predicted and then discussed.

• 제어로봇시스템학회논문지
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• 제12권2호
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• pp.138-144
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• 2006

Kinematic and dynamic characteristics of a Stewart platform based parallel manipulators are fixed once they are constructed. Thus parallel manipulators with various configurations are required to meet a variety of applications. In this research a parallel manipulator with variable platform (PMVP) has been developed, in which the length of the arm linking the platform center to the platform-leg contact point can be varied by an actuator. The workspace of the PMVP is larger than that of a traditional Stewart platform and especially the range in which the maximum orientation angles can be maintained is significantly expanded. Furthermore, the characteristics of force and moment transmission between the legs and platform can be adjusted to meet the requirements of various tasks. Kinematic and dynamics analysis was performed to verify the usefulness of the PMVP and the actual hardware was built to demonstrate the feasibility.

• Transactions on Control, Automation and Systems Engineering
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• 제4권2호
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• pp.156-163
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• 2002

This paper presents a new formulation to simplify the three resulting constraint equations of the direct kinematics of the 3-6 (Stewart-Gough) Platform. The conventional direct kinematics of the 3-6 Platform has been formulated through complicated steps with trigonometric functions in three angle variables and thus results in the computational burden. In order to reduce the formulation complexity, we replace an angle variable into a length one and express three connecting joints on the moving platform in the same frame. The proposed formulation yields considerable abbreviation of the number of the calculation terms involved in the direct kinematics. It is verified through a series of simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.175-178
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• 1997

This study was carried out to obtain an analytical expression for the specifications of the Stewart Platform that minimize the maximum force acting on the hydraulic cylinder. The position and orientation of the platform were calculated by means of the inverse kinematic analysis. The maximum force to be exerted on a cylinder was calculated using the Newton's second law for the case when the platform is moved along a horizontal axis with 0.6 g, the maximum translational acceleration possible. This paper suggests a mathematical model to minimize the maximum actuating force using radius and angle ratios as design variables. Finally, a fuzzy set for the minimum actuating force is proposed for this dynamic optimal design problem.

• 한국자동차공학회논문집
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• 제9권1호
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• pp.156-162
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• 2001

An effective and practical method is presented for solving the forward kinematics of a 6-DOF Stewart Platform, using neural network algorithm together with Newton-Raphson method. An approximated solution is obtained from trained neural network, then it is used as an initial estimate for Newton-Raphson method. A series of accurate solutions are calculated with reasonable speed for the entire workspace of the platform. The solution procedure can be used for driving a real-time simulation platform.