On interval control of parallel kinematic machines

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a method to design a robust controller for interval parallel kinematic machines. The method involves using a systematic approach to design a robust stabilizing controller for a parallel kinematic machine that can be described by nonlinear second order differential equation with interval parameters. To formulate the interval parameter problem in joint space the dynamic equation which is derived in Cartesian space for parallel kinematic machines is transformed to joint space using the Jacobian matrix and its time derivative. The nonlinear joint space model is linearized yielding an interval linear model and a controller with interval parameter gains is then found. A numerical study on a dynamic model of Stewart platform based parallel kinematics machine demonstrates the design procedure and shows its effectiveness. In the study, the model is simulated assuming lower and upper limits for some of the parameters.

Original languageEnglish
Title of host publicationEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
EditorsHideo Fujimoto, Mohammad O. Tokhi, Hiromi Mochiyama, Gurvinder S. Virk
PublisherWorld Scientific
Pages913-920
Number of pages8
ISBN (Print)9789814327978
DOIs
Publication statusPublished - 2010
Event13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 - Nagoya, Japan
Duration: Aug 31 2010Sep 3 2010

Publication series

NameEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010

Conference

Conference13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
Country/TerritoryJapan
CityNagoya
Period8/31/109/3/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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