Vibration control of Gough-Stewart platform on flexible suspension

Studies the vibration control of the Gough-Stewart platform on flexible supporting structures. The distinct characteristic of this application is that the two platforms are dynamically coupled. A proportional derivative control law based on the position prediction is used in the system. The control...

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Bibliographic Details
Published inIEEE transactions on robotics and automation Vol. 19; no. 3; pp. 489 - 493
Main Authors Cheng, Yuan, Ren, Gexue, Dai, ShiLiang
Format Journal Article
LanguageEnglish
Published New York, NY IEEE 01.06.2003
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Apertures
Applied sciences
Automatic control
Automation
Cables
Computer science; control theory; systems
Control system synthesis
Control systems
Control theory. Systems
Dynamical systems
Dynamics
Exact sciences and technology
Law
Manipulators
Mean square values
Miscellaneous
Motion control
Parallel robots
Platforms
Radio astronomy
Receivers
Robot control
Robotics and automation
Roots
Vibration
Vibration control
Vibration control
Parallel system
PD control
Flexible structure
Linkage mechanism
Control program
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Summary:Studies the vibration control of the Gough-Stewart platform on flexible supporting structures. The distinct characteristic of this application is that the two platforms are dynamically coupled. A proportional derivative control law based on the position prediction is used in the system. The control effects are evaluated by comparing the root mean square responses of the two platforms.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1042-296X
2374-958X
DOI:10.1109/TRA.2003.810233