ADAPTIVE FUZZY CONTROL OF A STEWART PLATFORM MANIPULATOR
نویسندگان
چکیده
منابع مشابه
Adaptive Fuzzy Control of Stewart Platform under Actuator Saturation
A novel adaptive fuzzy trajectory tracking algorithm of Stewart platform based motion platform is proposed to compensate path deviation and degradation of controller’s performance due to actuator torque limit. The algorithm can be divided into two parts: the real-time trajectory shaping part and the joint space adaptive fuzzy controller part. For a reference trajectory in task space whenever an...
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The Stewart platform is a six-axis parallel robot manipulator with a force-to-weight ratio and positioning accuracy far exceeding that of a conventional serial-link arm. Its stiffness and accuracy approach that of a machine tool yet its workspace dexterity approaches that of a conventional manipulator. In this article, we study the dynamic equations of the Stewart platform manipulator. Our deri...
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ژورنال
عنوان ژورنال: Proceedings of the JFPS International Symposium on Fluid Power
سال: 2002
ISSN: 2185-6303
DOI: 10.5739/isfp.2002.211