Title :
Design and Control of the Stewart Platform Robot
Author :
Indrawanto ; Santoso, Anindito
Author_Institution :
Mech. Eng. Dept., Inst. of Technol. Bandung, Bandung
Abstract :
This paper presents the design and control of a Stewart-Platform. The Stewart platform is designed based on a set of six independently prismatic actuators. The actuators translate through spherical joints which reside on a stationary platform. Each strut is driven by a DC motor. In this paper, kinematic characteristic and its limitation are discussed. Simulations and experiments are conducted to evaluate the controller performance.
Keywords :
robot kinematics; DC motor; Stewart platform robot; prismatic actuators; spherical joints; Aerospace engineering; Aerospace simulation; Asia; Bismuth; DC motors; Hydraulic actuators; Kinematics; Mechanical engineering; Parallel robots; Sliding mode control; Stewart platform; kinematics; robotics; state-feedback;
Conference_Titel :
Modelling & Simulation, 2009. AMS '09. Third Asia International Conference on
Conference_Location :
Bali
Print_ISBN :
978-1-4244-4154-9
Electronic_ISBN :
978-0-7695-3648-4
DOI :
10.1109/AMS.2009.53
