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Kinematic and dynamic sensitivity analysis of a three-axis rotary table
, Article Proceedings of 2003 IEEE Conference on Control Applications, Istanbul, 23 June 2003 through 25 June 2003 ; Volume 2 , 2003 , Pages 1147-1152 ; Abedi, H ; Sharif University of Technology
2003
Abstract
Three-axis rotary table is a flight motion simulator (FMS) used in the hardware in the loop (HWIL) simulation. Geometrical Modeling of 3-axis rotary tables is described and then three possible Geometrical layouts are driven. Kinematic and dynamic modelings of a 3-axis rotary table are developed in this paper. Denavit-Hartenberg (D-H) method, Recursive Newton-Euler (RNE) and Lagrange methods are used, respectively, in kinematic and dynamic modeling. A kinematic Error analysis is applied to determine the orientation and position accuracy of the table. Dynamic sensitivity analysis is also performed and the first-order sensitivity functions are derived corresponding several dynamic and control...