Abstract
The study of an invariant error dynamics controller for a six-degrees-of-freedom (dof) electrohydraulic Stewart platform is presented. Rigid body and electrohydraulic models, including servovalve dynamics are employed. Friction is also included in the mechanical model. The developed controller employs the dynamic and hydraulic model of the system and yields the six servovalve input current vector, in analytical form. Using mechanism inverse kinematics, the desired Cartesian trajectories yield desired actuator length trajectories. Simulations with typical desired trajectories are presented and a good performance of the controller is obtained.
Support by the EPAN Cooperation Program 4.3.6.1 (Greece-Poland) of the Hellenic General Secretariat for Research and Technology and the NTUA Senate Committee of Basic Research, Programme “Protagoras”, R.C. No. 10, is acknowledged.
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Davliakos, I., Papadopoulos, E. (2006). Invariant Error Dynamics Controller for a 6-dof Electrohydraulic Stewart Platform. In: Zielińska, T., Zieliński, C. (eds) Romansy 16. CISM Courses and Lectures, vol 487. Springer, Vienna. https://doi.org/10.1007/3-211-38927-X_17
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DOI: https://doi.org/10.1007/3-211-38927-X_17
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