移動体上にあるスチュワートプラットフォームのモデル化と制御

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  • Modeling and Control of a Stewart Platform Under Prescribed Mount Motion

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<p>In this paper, modeling and control of a Stewart platform mounted on a moving robot or vehicle are presented. For safe transportation of a sensitive equipment or patient, a compensation mechanism is required to stabilize the motion induced by a vehicle. The objectives of this paper are to derive analytical equations of motion and apply them to control simulations. To describe the kinematics of the platform, the moving frame method is employed. In deriving analytical equations of motion, the configuration spaces of Stewart platform systems are defined by using body-attached moving frames. For the system, a graph tree is used to illustrate how the constituent bodies are connected to each other. In kinetics, the principle of virtual work is employed, in which system virtual displacements are expressed through B-matrix by essential virtual displacements, reflecting the connection of the rigid body system. The resulting equations of motion are used for a design of a sliding mode controller (SMC), which achieves precise positioning and robustness for the nonlinear system. The results of the numerical simulations are described by comparing the tracking performance and robustness of the SMC with that of a simple PID controller, and show that the effectiveness of the SMC utilizing the analytical equations of motion.</p>

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