2A1-J03 Stewart Platformのマルチボディダイナミクスによるモデル化とIDCSによる運動制御(パラレルロボット・メカニズム)

概要

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In this paper, we show that it is possible to improve the control performances of the Stewart platform motion using a dynamic model and a new control method, namely the 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 and of the Cartesian dynamic model elements of the struts. Second, we perform numerical simulation for attitude control of the platform by means of PID control or CTM (Computed-Torque Method) control or IDCS control. Finally, we verify that the tracking performances and the system responsiveness of IDCS control are superior to traditional PID or CTM control.
一般社団法人日本機械学会の論文
2011-05-26