Dynamic Model and PD Control with Forces Compensation of Dual-Stage Gough-Stewart Platform

• Autorzy: Phan Khoi Bui , Ha Hung Huy , Hoang Chinh Quang , Nguyen Quan Dinh , Ha Hai Thanh

Identyfikatory

DOI

10.36897/jme/196504

• Języki publikacji: EN

Abstrakty

EN

This paper investigates a dual-stage Gough-Stewart platform. The lower platform is responsible for simulating the oscillations of moving vehicles such as cars, ships, and airplanes. The upper platform is connected to devices that require either balance stabilization or motion stabilization according to specific requirements. The dynamic model of the robot system is derived in a general form based on the Lagrange equations of motion with Lagrange multipliers. Using these equations in a compact form, a PD controller with forces compensation in task space is designed for the robot system. Oscillation generation and balance stabilization are computed and simulated using the kinematic and dynamic parameters of two Bosch Rexroth robots. The computation and simulation results demonstrate the dynamic model's accuracy and the controller's effectiveness.

Słowa kluczowe

EN

parallel robots; dynamics; Gough-Stewart platform; forces compensation controller; PD

• Wydawca: Wydawnictwo Wrocławskiej Rady FSNT NOT
• Czasopismo: Journal of Machine Engineering
• Rocznik: 2024
• Tom: Vol. 24, No. 4
• Strony: 75--92
• Opis fizyczny: Bibliogr. 20 poz., rys., tab.

Twórcy

autor

Phan Khoi Bui

• Department of Mechatronics, School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi Viet Nam
• Department of Mechatronics, Faculty of Aerospace Engineering, Le Quy Don Technical University, Viet Nam

• https://orcid.org/0000-0002-1287-8879

autor

Ha Hung Huy

• Department of Mechatronics, Faculty of Aerospace Engineering, Le Quy Don Technical University, Viet Nam

• https://orcid.org/0000-0003-2034-775X

autor

Hoang Chinh Quang

• Department of Mechatronics, Faculty of Aerospace Engineering, Le Quy Don Technical University, Viet Nam

• https://orcid.org/0000-0003-1327-2964

autor

Nguyen Quan Dinh

• Department of Mechatronics, Faculty of Aerospace Engineering, Le Quy Don Technical University, Viet Nam

• https://orcid.org/0000-0002-4741-4775

autor

Ha Hai Thanh

• Faculty of Industrial & Systems engineering, Hanoi University of Industry, Viet Nam

• https://orcid.org/0009-0009-4290-2575

Bibliografia

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