Modeling, simulation, and control of a hydraulic Stewart platform

TitleModeling, simulation, and control of a hydraulic Stewart platform
Publication TypeConference Paper
Year of Publication1997
AuthorsLi, D., and S. E. Salcudean
Conference NameRobotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Pagination3360 -3366 vol.4
Date Publishedapr.
Keywordsactuators, dynamics, electrohydraulic actuators, electrohydraulic control equipment, feedback, hydraulic Stewart platform, hydraulic systems, Jacobian matrices, Jacobian matrix, kinematics, linkspace pressure-feedback, manipulator dynamics, manipulator kinematics, modeling, motion simulator, pressure control, simulation
Abstract

This paper describes the modeling, simulation, and control of an inverted, ceiling-mounted Stewart platform, designed to be a one-person motion simulator. The dynamic equations of the Stewart platform are derived using the virtual work principle. It is shown by simulations that the leg dynamics can be neglected. A model of the electrohydraulic actuator is derived and then verified using experimental data. A linkspace pressure-feedback controller is proposed for high performance with good stability robustness. With the above controller, the small-motion position bandwidth of the platform can reach 9 Hz along the vertical axis for a payload of about 140 kg

URLhttp://dx.doi.org/10.1109/ROBOT.1997.606801
DOI10.1109/ROBOT.1997.606801

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