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Evaluation of Control Algorithms for High-Speed Motion Control of Machine-Tool Structures Based on Stewart Platforms

  • K. Harib
  • K. Srinivasan
Conference paper
  • 697 Downloads
Part of the Advanced Manufacturing book series (ADVMANUF)

Abstract

The control of high-speed motion of a machine tool structure based on the parallel link Stewart platform kinematic structure is addressed here. A model- based decoupling and linearizing algorithm is used in Cartesian space, measurements in this space being derived in real time from joint space measurements by an approximate solution of the forward kinematic relationships. A cross-coupled control formulation is then used to transform the control problem to decoupled control in task space coordinates. Control approaches are then applied to direct the control effort primarily at reduction of task space errors critical for machining tasks. The control algorithms developed thus are applied to a computer simulation of the dynamic response of a Stewart platform based machine tool structure as it executes a number of representative trajectories at feed rates of up to 12 m/min. The simulation results demonstrate the effectiveness of the proposed control algorithms and are presented here.

Keywords

Machine Tool Disturbance Observer Contour Error Orientation Error Cartesian Space 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    Stewart D 1965 A Platform with Six Degrees of Freedom. Proceedings of the Institution of Mechanical Engineers, Vol 180, pp 371–386CrossRefGoogle Scholar
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    Harib K, Srinivasan K 1998 High-Accuracy Motion Control of Machine Tool Structures Based on Stewart Platforms. 1998 Japan-USA Symposium on Flexible Automation, Otsu, Japan, JulyGoogle Scholar
  3. 3.
    Harib K 1997 Dynamic Modeling, Identification, and Control of Stewart Platform-Based Machine Tools. Ph.D thesis, Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio, SeptemberGoogle Scholar
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    Yoshikawa T 1990 Foundations of Robotics: Analysis and Control. MIT Press, CambridgeGoogle Scholar
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    Bickel RJ, Tomizuka M 1995 Disturbance Observer Based Hybrid Impedance Control. In: Proceedings of the American Control Conference, Seattle, Washington, June, pp 729–733Google Scholar

Copyright information

© Springer-Verlag London Limited 1999

Authors and Affiliations

  • K. Harib
    • 1
  • K. Srinivasan
    • 2
  1. 1.Dept. of Mechanical EngineeringUAE UniversityAl AinUnited Arab Emirates
  2. 2.Dept. of Mechanical EngineeringThe Ohio State UniversityColumbusUSA

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