Model-free intelligent control of a 6-DOF Stewart-Gough based parallel manipulator

IEEE Conference on Control Applications - Proceedings

Volumn 1, Issue , 2002, Pages 495-500

  Mann, George K I ^a   Surgenor, Brian W ^a  

^a MEMORIAL UNIVERSITY OF NEWFOUNDLAND   (Canada)

Author keywords

Fuzzy control; Model free control; PID control; Stewart Gough based manipulator

Indexed keywords

COMPUTER SIMULATION; FUZZY CONTROL; INTELLIGENT CONTROL; INVERSE KINEMATICS; LINEAR CONTROL SYSTEMS; THREE TERM CONTROL SYSTEMS;

MODEL-FREE CONTROL;

MANIPULATORS;

EID: 0036031843     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. D. Stewart, "A platform with six degree of freedom", Proc. of Inst. Mech. Engr., 180(1), 371-386, 1965.
2. W.A. Abbasi, S.C. Ridgeway, P.D. Adist, C.D. Crane and J. Duffy, "Investigation of a special 6-6 parallel platform for contour milling" J. of Manufacturing Science and Engineering Trans. of the ASME, 122(1), 132-139, 2000.
3. K. Harib, K. Sirinivasan, "Evaluation of control algorithms for high-speed motion control of machine-tool structures based on Stewart platforms", First European-American Forum on Parallel Kinematic Machines, Milan, Italy, August, 227-243, 1998.
4. L.-W. Tsai, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Willey & Sons, Inc., 1999.
5. C. Nguyen, S.S. Antrazi and Z.-L. Zhou, "Adaptive control of a Stewart platform-based manipulator", Journal of Robotics Systems, 10(5), 657-687, 1993.
6. E.H. Mamdani, "Application of fuzzy algorithms for control simple dynamic plant", Proc IEE in Control and Science, 121, 1585-1588, 1974.
7. G.K.I. Mann, B.-G. Hu and R.G. Gosine, "Two-level tuning of fuzzy controllers", IEEE Trans. on Systems Man, Cybernetics-Part B: Cybernetics, vol. 31, No. 2, pp. 263-269, 2001.