Kinematic control implementation of a stewart platform-based motion generator for aerospace applications

Alejandra Ríos; Eusebio Eduardo Hernández; Irandi Gutiérrez; Sajjad Keshtkar

doi:10.1007/978-3-030-60372-4_27

Kinematic control implementation of a stewart platform-based motion generator for aerospace applications

Alejandra Ríos, Eusebio Eduardo Hernández, Irandi Gutiérrez, Sajjad Keshtkar

Escuela Superior de Ingeniería Mecánica y Eléctrica (ESIME), Unidad Ticomán

Research output: Contribution to journal › Article › peer-review

Abstract

This paper presents the implementation of a position-torque control law for a 6DOF Stewart platform for tracking trajectories through its end-effector. First, the kinematics and a configuration description are depicted. Then, a control scheme is suggested and implemented using a Quanser data acquisition card that has compatibility with Matlab Simulink in order to control the linear positioners of the robot. The use of these elements merges a simple but rewarding control of this parallel robot towards a new scheme of technologic incorporation for aerospace applications which make use of the Stewart platform as a motion generator.

Original language	English
Pages (from-to)	237-245
Number of pages	9
Journal	Mechanisms and Machine Science
Volume	94
DOIs	https://doi.org/10.1007/978-3-030-60372-4_27
State	Published - 2021

Keywords

Closed-loop hardware control
Linear positioners
Parallel robot
Position-torque control

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10.1007/978-3-030-60372-4_27

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abstract = "This paper presents the implementation of a position-torque control law for a 6DOF Stewart platform for tracking trajectories through its end-effector. First, the kinematics and a configuration description are depicted. Then, a control scheme is suggested and implemented using a Quanser data acquisition card that has compatibility with Matlab Simulink in order to control the linear positioners of the robot. The use of these elements merges a simple but rewarding control of this parallel robot towards a new scheme of technologic incorporation for aerospace applications which make use of the Stewart platform as a motion generator.",

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AU - Gutiérrez, Irandi

AU - Keshtkar, Sajjad

PY - 2021

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AB - This paper presents the implementation of a position-torque control law for a 6DOF Stewart platform for tracking trajectories through its end-effector. First, the kinematics and a configuration description are depicted. Then, a control scheme is suggested and implemented using a Quanser data acquisition card that has compatibility with Matlab Simulink in order to control the linear positioners of the robot. The use of these elements merges a simple but rewarding control of this parallel robot towards a new scheme of technologic incorporation for aerospace applications which make use of the Stewart platform as a motion generator.

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KW - Linear positioners

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Kinematic control implementation of a stewart platform-based motion generator for aerospace applications

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Keywords

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