Position control of a stewart-gough platform using inverse dynamics method with full dynamics

摘要

The Stewart-Gough platform is a six DOF parallel robot manipulator with a force-to-weight ratio and positioning accuracy far exceeding those of a conventional serial-link arm. In this article, application of an inverse dynamics control scheme Stewart-Gough platform is proposed. Control of the parallel manipulator is an open field and the works reported are not rigorous. Kinematic equations of the robot are presented; full dynamic equations of the Stewart-Gough platform are derived using Lagrange's formulation approach. Simulation results illustrate the performance of the control algorithm