Regresar

Robust adaptive control of the Stewart-Gough robot in the task space

Abstract:

This paper deals with the robust adaptive control of the Stewart-Gough platform based on the task space dynamic equations. These equations were obtained using the virtual work approach, and include all the thirteen bodies presented in the platform, i.e. two bodies per each leg and the upper ring. The performance of the robust adaptive control law is evaluated using a sinusoidal path for position and orientation of the upper ring. Simulation were carried out to show the performance of the controller. © 2010 AACC.

Año de publicación:

2010

Keywords:

    Fuente:

    scopusscopus

    Tipo de documento:

    Conference Object

    Estado:

    Acceso restringido

    Áreas de conocimiento:

    • Sistema de control
    • Robótica

    Áreas temáticas:

    • Otras ramas de la ingeniería

    Contribuidores:

    Diaz J.Diaz J.
    Yime E.Yime E.
    Roque J. Saltarén PazmiñoRoque J. Saltarén Pazmiño