제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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- Pages.772-775
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- 1997
Model-based sliding mode tracking control of 6-6 Stewart platform manipulator
- Lee, Chong-Won (Center for Noise and Vibration Control(NOVIC), Department of Mechanical Engineering, KAIST) ;
- Kim, Nag-In (Daewoo Heavy Industries Ltd.)
- 발행 : 1997.10.01
초록
A high speed tracking control for 6-6 Stewart platform manipulator is performed by employing the joint-axis sliding mode control based on dynamics. Because of the complex dynamics and kinematics of Stewart platform manipulator, two computer systems, consisting of a PC and a DSP, are adopted, so that real time tasks are run in synchronous and asynchronous modes. It is experimentally proven that the proposed control system leads to an easy to implement and effective control task, and it can achieve the high performance tracking control under the high speed and severe payload condition.
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