Trajectory-tracking of 6-RSS Stewart-Gough manipulator by feedback-linearization control using a novel inverse dynamic model based on the force distribution algorithm. Issue 3 (3rd May 2020)

• Record Type: Journal Article
• Authors: Mahmoud, Zafer; Arvan, Mohammad Reza; Nekoukar, Vahab; Rezaei, Mohammad
• Is Part Of: Mathematical and computer modelling of dynamical systems. Volume 26:Issue 3(2020)
• Page Start: 268
• Page End: 299
• Publication Date: 2020-05-03
• Subjects: revolute Stewart-Gough mechanism -- decoupled inverse dynamic model -- force distribution algorithm; Engineering -- Mathematical models -- Periodicals; Computer simulation -- Periodicals; 515.39
• DOI: 10.1080/13873954.2020.1754861
• Languages: English
• ISSNs: 1387-3954

Abstract

ABSTRACT: 6-RSS Stewart-Gough parallel manipulator contains six crank-rod limbs connecting the base and moving platforms to each other, forming a 6DOF manipulator. In this paper, we introduce a novel decoupled inverse dynamic model for this manipulator based on the Force Distribution Algorithm. The performance of the proposed model was evaluated in tracking a complex trajectory (of multiple segments with simultaneous translational and rotational motions) using feedback-linearization control in the joint space and compared with that of the Lagrangian inverse dynamic model. Results showed that this model leads to a better performance in feedback-linearization control, especially when the reference trajectory is quantized, and with less calculation burden in comparison with the Lagrangian model. The control system employing both models showed robustness against payload uncertainty on the moving platform (150% of the moving platform's mass). The performance assessment and the robustness approval were performed in simulation using a Simscape model specifically built for this purpose in the Simulink environment.