Stewart Platform Interactive Motion Controller Design

• Main Authors: Hsu-Feng Ho, 何旭峰
• Other Authors: Jia-Yush Yen
• Format: Others
• Language: zh-TW
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/96555104263395272101

碩士 === 國立臺灣大學 === 機械工程學研究所 === 87 === This thesis addresses the on-line servo system design for a Stewart platform. The conventional servo design for the Stewart platform depends on the well-known inverse kinematics to calculate off-line the desired motion trajectory. The servo system then reflects the desired attitude by achieving the required leg lengths from the inverse kinematics calculation. This approach does not allow any on-line attitude feedback or any sudden change in the attitude command. In this thesis, we restructured the servo control scheme for the Stewart platform. The new design incorporated an incremental interpolator to receive on line servo command. The research also covers an exclusive operation range search on the allowable attitude as well as the allowable attitude speed. A near optimal speed approximation algorithm is then proposed. Experimental results show fast responses to the on-line joy-stick input commands. The operator is able to manipulate the platform at any attitude permitted by the work-space limitation.