Real-Time Dynamic Control of a Stewart Platform
| dc.contributor.author | Nicolas Andres Ordoñez | |
| dc.contributor.author | Carlos Rodríguez | |
| dc.coverage.spatial | Bolivia | |
| dc.date.accessioned | 2026-03-22T15:04:14Z | |
| dc.date.available | 2026-03-22T15:04:14Z | |
| dc.date.issued | 2013 | |
| dc.description | Citaciones: 8 | |
| dc.description.abstract | This paper presents a real-time control strategy for the parallel robots such as the Stewart-Gough platform. The strategy is implemented using xPC Target (a Matlab toolbox), achieving sample rates higher than 1 kHz for the control loop. A modified explicit dynamic model, based on the virtual work principle, allows the formulation of dynamic control schemes, commonly used to control serial manipulators. Based on this approach, a computed torque control with friction compensation is implemented for a Stewart-Gough platform. Experimental results are compared with a classic uncoupled control strategy. | |
| dc.identifier.doi | 10.4028/www.scientific.net/amm.390.398 | |
| dc.identifier.uri | https://doi.org/10.4028/www.scientific.net/amm.390.398 | |
| dc.identifier.uri | https://andeanlibrary.org/handle/123456789/50203 | |
| dc.language.iso | en | |
| dc.publisher | Trans Tech Publications | |
| dc.relation.ispartof | Applied Mechanics and Materials | |
| dc.source | Universidad de Los Andes | |
| dc.subject | Stewart platform | |
| dc.subject | Toolbox | |
| dc.subject | MATLAB | |
| dc.subject | Control engineering | |
| dc.subject | Compensation (psychology) | |
| dc.subject | Torque | |
| dc.subject | Control theory (sociology) | |
| dc.subject | Control (management) | |
| dc.subject | Virtual work | |
| dc.subject | Engineering | |
| dc.title | Real-Time Dynamic Control of a Stewart Platform | |
| dc.type | article |