Control of a two degree-of-freedom parallel robot as a stabilization platform

摘要

The application of stabilization platform is to stabilize pointing direction of equipment, such as cameras and radars, toward a specific object or direction by isolating the device from the mechanical disturbances made by the environment. The objective of this research is to present a 2-DoF gimbal system with parallel kinematic chain for the first time. As a prerequisite to controlling design, the inverse and the forward kinematic problem of the proposed manipulator are derived. Then, by resorting to the kinematic model, two control algorithms of exponentially decay and sliding mode control are developed and validated by using simulation and experimental on board implementation. The algorithm performances are evaluated and compared by considering external disturbance and sensor noise effects.