Dynamic Model and PD Control with Forces Compensation of Dual-Stage Gough-Stewart Platform
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...
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| Format: | Article |
| Language: | English |
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Publishing House of Wrocław Board of Scientific Technical Societies Federation NOT
2024-11-01
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| Series: | Journal of Machine Engineering |
| Subjects: | |
| Online Access: | http://jmacheng.not.pl/Dynamic-Model-and-PD-Control-with-Forces-Compensation-of-Dual-Stage-Gough-Stewart,196504,0,2.html |
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| _version_ | 1850221467854176256 |
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| author | Ha Huy Hung Phan Bui Khoi Hoang Quang Chinh Quan Dinh Nguyen Ha Thanh Hai |
| author_facet | Ha Huy Hung Phan Bui Khoi Hoang Quang Chinh Quan Dinh Nguyen Ha Thanh Hai |
| author_sort | Ha Huy Hung |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-2cc9cf6beb2642b3a9f4c045acf1f4fb |
| institution | OA Journals |
| issn | 1895-7595 2391-8071 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | Publishing House of Wrocław Board of Scientific Technical Societies Federation NOT |
| record_format | Article |
| series | Journal of Machine Engineering |
| spelling | doaj-art-2cc9cf6beb2642b3a9f4c045acf1f4fb2025-08-20T02:06:43ZengPublishing House of Wrocław Board of Scientific Technical Societies Federation NOTJournal of Machine Engineering1895-75952391-80712024-11-01244759210.36897/jme/196504196504Dynamic Model and PD Control with Forces Compensation of Dual-Stage Gough-Stewart PlatformHa Huy Hung0https://orcid.org/0000-0003-2034-775XPhan Bui Khoi1https://orcid.org/0000-0002-1287-8879Hoang Quang Chinh2https://orcid.org/0000-0003-1327-2964Quan Dinh Nguyen3https://orcid.org/0000-0002-4741-4775Ha Thanh Hai4https://orcid.org/0009-0009-4290-2575Department of Mechatronics, Faculty of Aerospace Engineering, Le Quy Don Technical University, VietnamSchool of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, VietnamDepartment of Mechatronics, Faculty of Aerospace Engineering, Le Quy Don Technical University, VietnamDepartment of Mechatronics, Faculty of Aerospace Engineering, Le Quy Don Technical University, VietnamFaculty of Industrial & Systems engineering, Hanoi University of Industry, VietnamThis 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.http://jmacheng.not.pl/Dynamic-Model-and-PD-Control-with-Forces-Compensation-of-Dual-Stage-Gough-Stewart,196504,0,2.htmlparallel robotsdynamicsgough-stewart platformpd and forces compensation controller |
| spellingShingle | Ha Huy Hung Phan Bui Khoi Hoang Quang Chinh Quan Dinh Nguyen Ha Thanh Hai Dynamic Model and PD Control with Forces Compensation of Dual-Stage Gough-Stewart Platform Journal of Machine Engineering parallel robots dynamics gough-stewart platform pd and forces compensation controller |
| title | Dynamic Model and PD Control with Forces Compensation of Dual-Stage Gough-Stewart Platform |
| title_full | Dynamic Model and PD Control with Forces Compensation of Dual-Stage Gough-Stewart Platform |
| title_fullStr | Dynamic Model and PD Control with Forces Compensation of Dual-Stage Gough-Stewart Platform |
| title_full_unstemmed | Dynamic Model and PD Control with Forces Compensation of Dual-Stage Gough-Stewart Platform |
| title_short | Dynamic Model and PD Control with Forces Compensation of Dual-Stage Gough-Stewart Platform |
| title_sort | dynamic model and pd control with forces compensation of dual stage gough stewart platform |
| topic | parallel robots dynamics gough-stewart platform pd and forces compensation controller |
| url | http://jmacheng.not.pl/Dynamic-Model-and-PD-Control-with-Forces-Compensation-of-Dual-Stage-Gough-Stewart,196504,0,2.html |
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