Bruckmann, Tobias; Pott, Andreas; Franitza, Daniel; Hiller, Manfred:
A modular controller for redundantly actuated tendon-based Stewart platforms
In: Proceedings / EuCoMeS, 1st European Conference on Mechanism Science : Obergurgl, Austria, February 21 - 26, 2006 / Husty, Manfred; Schroecker, Hans-Peter (Hrsg.). - European Conference on Mechanism Science ; EuCoMeS - 1 CD-ROM, Obergurgl, 2006
2006Buchaufsatz/Kapitel in Tagungsband
MaschinenbauFakultät für Ingenieurwissenschaften
Titel in Englisch:
A modular controller for redundantly actuated tendon-based Stewart platforms
Autor(in):
Bruckmann, TobiasLSF; Pott, Andreas; Franitza, Daniel; Hiller, ManfredLSF
Sprache des Textes
Englisch

Abstract:

Tendon-based Stewart platforms are capable of high speeds and accelerations. Thus, a reliable controller running with a high frequency is required. Here, an implementation based on a modular controller architecture is shown. To control the platform on a given trajectory, the implemented position control has to be extended by a tendon force control which generates defined and safe force values. In the case of one redundant tendon, a direct calculation is possible. Having at least two redundant tendons, the computation of a force distribution requires optimization methods, which are numerically expensive. In this paper, algorithms for both cases and their embedding into the controller are presented.