Real-Time Dynamic Control of a Stewart Platform

摘要

This paper presents a real-time control strategy for the parallel robots such as the Stewart-Gough platform. The strategy is implemented using xPC Target (a Matlab toolbox), achieving sample rates higher than 1 kHz for the control loop. A modified explicit dynamic model, based on the virtual work principle, allows the formulation of dynamic control schemes, commonly used to control serial manipulators. Based on this approach, a computed torque control with friction compensation is implemented for a Stewart-Gough platform. Experimental results are compared with a classic uncoupled control strategy.