The purpose of this paper is to present an algorithm for inverse dynamics problem of a generally configured Stewart platform which is both fast and accurate.

    Design/methodology/approach

    A Newton-Euler approach is presented, using the advantage of body coordinate frames, instead of inertial ones in order to omit redundant matrix transformations.

    Findings

    The method is found to lead to an efficient algorithm for inverse dynamics of a generally configured Stewart platform, which is at least three times faster than the available algorithms. This algorithm is at the same time more accurate, due to considering the gyroscopic effects of rotary parts within the legs.

    Originality/value

    Utilizing body coordinate frames for both platform and legs (instead of inertial ones) and taking into account the gyroscopic effects of the rotary parts within the leg, are the innovative aspects of this paper. The more significant achievement of the presented method is the remarkably faster rate of convergence, which is very important in feedback linearization control.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An efficient method for solution of inverse dynamics of Stewart platform


    Contributors:

    Published in:

    Publication date :

    2009-09-04


    Size :

    9 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English






    An algorithm to solve the inverse kinematics to a stewart platform

    Petrescu, Florian Ion Tiberiu / Petrescu, Relly Victoria Virgil | BASE | 2020

    Free access

    Inverse modeling of the stewart foot

    Comanescu, Adriana / Rotaru, Alexandra / Ungureanu, Liviu Marian et al. | BASE | 2021

    Free access

    Inverse Kinematics Model's Parameter Simulation for Stewart Platform Design of Driving Simulator

    Hu, Gan / Li, Xiaomeng / Yan, Xuedong | British Library Conference Proceedings | 2018