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Impedance Control of Stewart Platform with Optimal Gains

Baghi, Sina | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 43041 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Ghafari, Ali; Ghaemi Osgouie, Kambeaz
  7. Abstract:
  8. The main scope of this research is developing an impedance control strategy for a six-degree-of-freedom parallel manipulator with the application in the milling process. One of the most common known parallel manipulators is the Stewart platform, which was proposed in 1965. [It evolved into a popular research topic of robotics in the 1980s.] Problems in various aspects of design, kinematics, dynamics, singularity and workspace analysis have been investigated in the literature. Derivation of control strategies taking advantage of the in-parallel structure or catering for the special problems arising out of that is another important field, whichhas been almost untouched till now.
    The main challenge in the process of doing this research is to propose an impedance control strategy with optimal parameters to control the position and force variables simultaneously during the milling process. Such a controller offers safety and flexibility and is preferred over other control techniques. In this case, the governing equations of motion of the Stewart platform should be extracted from the literature or regenerated while employing the SimMechanics toolbox of MATLAB software.Then an impendence control algorithm consisting of feedback and feed-forward signals is proposed. In the next step parameters of the proposed controller will be tuned by solving an optimization problem in order to track the reference trajectoryand control the exerted force simultaneously. Then the impedance controller is modified in order to achieve an acceptable accuracy that is required by the milling process. After all various tests were done on the system to prove the performance of the controller
  9. Keywords:
  10. Parallel Robot ; Optimization ; Machining ; Stewart Platform ; Impedance Control

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