Adaptive-Robust Control of the Stewart-Gough Platform as a Six DOF Parallel Robot

Abstract

The focus of this paper is on an adaptive-robust tracking control design for a six DOF parallel robot known as Stewart-Gough platform in the presence of nonlinearity and uncertainty. The Stewart-Gough platform is a six DOF parallel robot manipulator with a force-to-weight ratio and positioning accuracy far exceeding those of a conventional serial-link arm. The adaptive-robust control scheme can be thought of as combining the best qualities of the adaptive and the robust control schemes. Kinematic equations of the robot are presented; using Lagrange's formulation approach full dynamic equations of the Stewart-Gough platform are derived. Simulation results illustrate the performance of the control algorithm.