A flexible controller for a Stewart platform

Author

Graf, Renté ; Vierling, Ralph ; Dillmann, Rüdiger

Author_Institution

Inst. for Realtime-Syst. & Robotics, Karlsruhe Univ., Germany

Volume

2

fYear

1998

fDate

21-23 Apr 1998

Firstpage

52

Abstract

Stewart platforms are mostly used for simulator applications connected to a large graphic computer. This application is fixed and can not be greatly modified. This paper deals with a new concept of a controller for the Stewart platform that is used in multimedia applications. The controller has to be very flexible, since various and very different applications will run on the Stewart platform. First, the kinematics and dynamics of the platform used are explained. After describing the necessary calibration the new concept for the control architecture is developed. Finally, the filtering technique for the generation of movements in order to simulate acceleration is presented

Keywords

calibration; computerised control; filtering theory; manipulator dynamics; manipulator kinematics; multimedia systems; simulation; Stewart platform; acceleration; calibration; control architecture; dynamics; flexible controller; kinematics; multimedia systems; parallel manipulators; Acceleration; Aerospace simulation; Art; Calibration; Graphics; Kinematics; Leg; Payloads; Robots; Servomechanisms;

fLanguage

English

Publisher

ieee

Conference_Titel

Knowledge-Based Intelligent Electronic Systems, 1998. Proceedings KES '98. 1998 Second International Conference on

Conference_Location

Adelaide, SA

Print_ISBN

0-7803-4316-6

Type

conf

DOI

10.1109/KES.1998.725892

Filename

725892