1117 IDCSを用いたSTEWART PLATFORMの運動制御(OS9-1 ビークルシミュレータの開発,OS9 ビークルシミュレータの開発と応用,オーガナイズド・セッション(OS))

概要

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This paper shows that it is possible to improve the control performances of the Stewart platform motion using a dynamic model and a new control method namely IDCS. By means of numerical simulations we compare the IDCS performances with traditional control methods. First, we obtain the inverse and forward dynamic models of the Stewart platform motion simulator in terms of the Newton-Euler method. Second, we perform numerical simulation for attitude control of the platform by means of PD control or DDCS control. Finally, we verify that the tracking performances and the system responsiveness of IDCS control are superior to traditional PD control.
一般社団法人日本機械学会の論文
2010-12-01