Abstract
02Oct 2019 DESIGN AND IMPLEMENTATION OF FEEDBACK CONTROL SYSTEM FOR 6-DOF STEWART PLATFORM. Gopiya Naik S , Manojgowda S.P and Kishor G. Associate Professor, Students, Department of Electrical & Electronics Engineering, PES College of Engineering, Mandya, Karnataka (India).
Highlights
A complete physical system and controller design of a 6-Degree of Freedom (6-DoF) Stewart platform explored from conception to
The ranges of motion achieved by this manipulator are three translation motions and three rotational motions around each axis, these motions can be controlled either independently or in any combination (The range and combinations of motion are subjected to physical limitation)
Section-4 deals with the control system design for the ball-on-plate system; this includes mathematical modelling of the system and design of control blocks using two methods PID and LQG
Summary
The goal of this paper is to design and implement feedback control system for a Stewart Platform to control a ball-on-plate system. Stewart platform is parallel manipulator having 6 actuators to control the position and orientation of a plat-form. The ballon-plate system is an unstable open-loop System in which a ball placed on a plate (i.e., Platform) and the position of the ball is indirectly controlled by tilting the plate on its X and Y axes.
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