气动并联机械手的控制设计

2011 21st International Conference on Systems Engineering Pub Date : 2011-08-16 DOI:10.1109/ICSEng.2011.16

K. S. Grewal, R. Dixon, J. Pearson

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引用次数: 11

摘要

本文研究了气动Stewart-Gough六自由度平台控制的实际应用。提出了两种用于平台运动控制的控制方法:经典控制技术和现代控制技术。实验结果表明，两种方法都是合适的，但LQG的性能略好。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Control Design for a Pneumatically Actuated Parallel Link Manipulator

This paper is concerned with the practical application of control to a pneumatically actuated Stewart-Gough platform with 6 Degrees of Freedom (DOF). Two control approaches for motion control of the platform are presented using a classical control technique and a modern control technique. The control schemes experimental results are compared showing that either approach is suitable but with LQG giving slightly better performance.

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来源期刊

2011 21st International Conference on Systems Engineering

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