Realization, programming and controlling of the stewart-gough platform

• Autorzy: Owoc Dawid , Ludwiczak Krzysztof , Piotrowski Robert

Identyfikatory

DOI

10.14313/JAMRIS/2‐2020/14

• Języki publikacji: EN

Abstrakty

EN

This paper presents realization, programming, and controlling of a low cost Stewart‐Gough platform (SGP) with rotary actuators. The realized SGP is applied in a ball & plate control system. Developed dedicated soft ware consists of embedded and application software for both the SGP positioning system and the ball & plate control system. A ball position is being obtained using com‐ puter vision. The paper contains tests results for both an SGP positioning accuracy and a control quality of the ball & plate control system.

Słowa kluczowe

EN

Stewart-Gough platform; ball & plate; computer vision

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2020
• Tom: Vol. 14, No. 2
• Strony: 10--14
• Opis fizyczny: Bibliogr. 8 poz., rys.

Twórcy

autor

Owoc Dawid

• Gdansk University of Technology Fa‑ culty of Electrical and Control Engineering, Naruto‑ wicza 11/12, 80‑233 Gdansk, Poland

autor

Ludwiczak Krzysztof

• Gdansk University of Technology Fa‑ culty of Electrical and Control Engineering, Naruto‑ wicza 11/12, 80‑233 Gdansk, Poland

autor

Piotrowski Robert

• Gdansk University of Technology Fa‑ culty of Electrical and Control Engineering, Naruto‑ wicza 11/12, 80‑233 Gdansk, Poland

Bibliografia

• [1] H. Bang and Y. S. Lee, “Implementation of a Ball and Plate Control System Using Sliding Mode Control”, IEEE Access, vol. 6, 2018, 32401–32408, 10.1109/ACCESS.2018.2838544.
• [2] G. R. Bradski and A. Kaehler, Learning OpenCV: computer vision with the OpenCV library, Software that sees, O’Reilly: Beijing, 2011.
• [3] V. E. Gough, “Contribution to discussion of papers on research in automobile stability, control and tyre performance”, Proc. of Auto Div. Inst. Mech. Eng., vol. 171, 1957, 392–395.
• [4] K. Martin and B. Hoffman, Mastering CMake: A Cross‑Platform Build System, Kitware, Inc.: Clifton Park, NY, 2008.
• [5] P. Munford and P. Normand, Mastering Autodesk Inventor 2016 and Autodesk Inventor LT 2016, John Wiley & Sons, Inc: Indianapolis, Indiana, 2016.
• [6] D. Owoc, K. Ludwiczak, and R. Piotrowski, “Mechatronics Design, Modelling and Controlling of the Stewart‑Gough Platform”. In: 2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR), 2019, 76–80, 10.1109/MMAR.2019.8864694.
• [7] M. Scarpino, Designing Circuit Boards With EAGLE: Make High‑Quality PCBs at Low Cost, Prentice Hall: Upper Saddle River, NJ, 2014.
• [8] D. Stewart, “A Platform with Six Degrees of Freedom”, Proceedings of the Institution of Mechanical Engineers, 2016,10.1243/PIME_PROC_1965_180_029_02, Sage UK: London, England.

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).