Optimal design and control of a Stewart-Gough Platform

This paper presents the results of optimal design and control for a Stewart-Gough Platform. An experimental system was designed for the optimization of the parallel manipulator control based on a selected optimal configuration. This system is an open design for variation different configurations and controllers to support parallel manipulator research and applications. A parameters space investigation (PSI) algorithm with the Pareto optimal set was used to optimize parallel manipulator configuration with limited survey workspace. A tradition PID control and a self-tuning Fuzzy PID control algorithm were applied for real-time motion control of parallel manipulator. Quality system standards will be analyzed with different controllers. The system can be a useful tool for research and training purposes.