Determination of realistic uncertainty bounds for the stewart platform with payload dynamics

Proceedings of the IEEE International Conference on Control Applications

Volumn , Issue , 2008, Pages 995-1000

  Iqbal, S ^a   Bhatti, A I ^a   Ahmed, Q ^a  

^a NONE

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL METHODS; CONTROL THEORY; ROBUST CONTROL;

CONTROL APPLICATIONS; CONTROL PERFORMANCES; EQUILIBRIUM POINTS; INTERNATIONAL CONFERENCES; MOMENTS OF INERTIA; NON-LINEAR MODELING; PAPER ADDRESSES; PAYLOAD DYNAMICS; REACH ABILITY; STEWART PLATFORMS; UNCERTAINTY BOUNDS; WORST CASE;

COMPUTER SIMULATION;

EID: 53349095524     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CCA.2008.4629630     Document Type: Conference Paper

References (16)

1. D. Stewart. "A Platform with Six Degrees of Freedom". Proc. Inst. Mech. Engrs, London, 180(15):371-386, 1965-66.
2. C. C. Nguyen and F. J. Pooran, "Dynamic Analysis of 6 DOF CKCM Robot End-Effectors for Dual Arm Telerobot Systems", Journal of Robotics and Autonomous Systems, Vol. 5, pp. 377-394, 1989
3. G. Lebret, K. Liu, F. L. Lewis, "Dynamic Analysis and Control of a Stewart Platform Manipulator", Journal of Robotic Systems 10 (5) pp. 629-655, 1993.
4. B. Dasgupta, T. S. Mruthyunjaya, "A Newton-Euler Formulation for the Inverse Dynamics of the Stewart Platform Manipulator", Machine Mechanics Theory 33 (8) pp. 1135-1152, 1998.
5. M. J. Liu, C. X. Li, and C. N. Li, "Dynamics Analysis of the Gough-Stewart Platform Manipulator", IEEE Transaction on Robotics and Automation, Vol. 16 (1), pp 94-98, 2000
6. Y. Ting, Y. S. Chen, and H. C. Jar, "Modeling and Control for a Gough-Stewart Platform CNC Machine, Journal of Robotic Systems ", 21(11), pp. 609-623 2004
7. H. B. Guo, H. R. Li, "Dynamic Analysis and Simulation of a Six Degree of Freedom Stewart Platform Manipulator", Proc. IMechE, Vol 220, Part C, Journal of Mechanical Engineering Science, pp. 61-72, 2006
8. J. Y. Kang, D. H. Kim and K. Lee, "Robust Tracking Control of Stewart Platform", proceeding of the 35th Conference on Decision and Control 1996.
9. Nag-In Kim and Chong-Won Lee, "High Speed Tracking Control of Stewart Platform Manipulator via Enhanced Sliding Mode Control", proceeding of the 1998 IEEE International Conference on Robotics & Automation May 1998.
10. D. H. Kim, J. Y. Kang and K. Lee," Robust Tracking Control Design for a 6DOF Parallel Manipulator", Journal of Robotic System, 17(10), 527-547 (2000).
11. Chin-I Huang, Chih-Fu Chang, Ming-Yi Yu, and Li-Chen Fu, "Sliding Mode Tracking Control of the Stewart Platform", proceeding 5th Asian Control Conference. 2004.
12. S. Iqbal and A. I. Bhatti "Direct Sliding Mode Controller Design for a 6DOF Parallel Manipulator", Proceeding of 10th IEEE International Multitopic Conference (INMIC06), 23 - 24 Dec 2006, Islamabad, Pakistan, ISBN 1-4244-0794-x.
13. ∞ Loop Shaping Controller for a 2DOF Stabilized Platform", Proceedings of European Control Conference 2007 Kos, Greece 2 - 5 July 2007, ISBN: 978-960-89028-5-5, pp 2098-2104.
14. th IFAC World Congress 2008, July 6-11, Seoul, Korea.
15. Slotine, J. J. and Li W, "Applied Nonlinear Control", Prentice Hall, ISBN 0-13-040-890-5, 1991.
16. Iqbal, S., A. I. Bhatti and Q. Ahmed, (2007b), Nonlinear Model Extension and Determination of Realistic Uncertainty Bounds for Robust Controller Design for a Stewart Platform with Movable Asymmetric Payloads, Technical Report TR-200701/EE-SPC, Signal Processing & Controls Research Lab, Muhammad AH Jinnah University Pakistan. http://www.jinnah.edu.pk/pages/jrsrch/dspcs/siqbal. php