Dynamic Modeling Using the Principle of Virtual Work and Decentralized PD Control of a Stewart-Gough Platform

This paper presents the dynamic modeling using the Virtual Work principle, as well as the PD trajectory control of a parallel robotic manipulator known as the Stewart-Gough platform (SGP). Also, this paper contains the simulation of the kinematic equations, dynamics and control system. The simulatio...

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Bibliographic Details
Published in:	2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE) pp. 1 - 6
Main Authors:	Klein, Davi, Gamarra, Daniel Fernando Tello
Format:	Conference Proceeding
Language:	English
Published:	IEEE 18-10-2022
Subjects:	Aerospace electronics Analytical models Closed-form solutions Decentralized PD control of parallel robots Dynamic modeling by the principle of Virtual Work Dynamics Kinematics Manipulators in 6-SPS parallel configuration Mathematical models Stewart-Gough platform Trajectory
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Summary:	This paper presents the dynamic modeling using the Virtual Work principle, as well as the PD trajectory control of a parallel robotic manipulator known as the Stewart-Gough platform (SGP). Also, this paper contains the simulation of the kinematic equations, dynamics and control system. The simulations of the algorithms were developed in Matlab®. The paper obtained as results the dynamic modeling of the system using the Virtual Work principle, the closed-form solution of the equations of motion and the design of the control system using a decentralized PD controller of a SGP. Furthermore, all the analysis - kinematic modeling, dynamic modeling, and control - were simulated for a given trajectory. It is concluded that it is possible to use a closed-form solution for the equations of motion of the manipulator by means of the principle of Virtual Work, as well as that the performance of the designed controller was proven satisfactory for the application.
ISSN:	2643-685X
DOI:	10.1109/LARS/SBR/WRE56824.2022.9995737