OTHER
Design and Control of the Stewart Platform Robot
Indrawanto Indrawanto, Anindito Santoso
- Year
- 2009
- Citations
- 15
Abstract
This paper presents the design and control of a Stewart-Platform. The Stewart platform is designed based on a set of six independently prismatic actuators. The actuators translate through spherical joints which reside on a stationary platform. Each strut is driven by a DC motor. In this paper, kinematic characteristic and its limitation are discussed. Simulations and experiments are conducted to evaluate the controller performance.
Keywords
Stewart platformActuatorKinematicsRobotRobot kinematicsController (irrigation)Control engineeringComputer scienceControl theory (sociology)Set (abstract data type)
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