Compliant Force Control of Stewart Platform

摘要：

Compliant force control of Stewart platform is studied. Compliant force control strategy is developed based on die inner loop position control. Considering uncertainties such as parameter perturbations, model perturbations and external disturbances etc., robust force controller is designed using μ synthesis theory. Experiment results of robust force controller and classical force controllers are shown. The results indicate that the designed robust force controller has better robust stability and robust performance.

关键词： Stewart platform n synthesis compliant force control robust

作者: Zhao Hui Zhang Shangying Han Junwei

作者单位: School of Mechanical Automation, Wuhan University of Science & Technology, Wuhan, Hubei, 430081, Chi State Key Laboratory of Digital Manufacturing Equipment & Technology, Huazhong University of Science School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, 150001, Ch

会议类型: 国际会议

会议名称: The Fifth International Symposium on Fluid Power Transmission and Control(ISFP2007)（2007年国际流体动力传输与控制学术会议）

会议地点: 北戴河

会议语种:英文

页码: 906-910

在线出版日期: 2007-06-06（万方平台首次上网日期，不代表论文的发表时间）