Optimal design and control of a Stewart-Gough Platform

This paper presents the results of optimal design and control for a Stewart-Gough Platform. An experimental system was designed for the optimization of the parallel manipulator control based on a selected optimal configuration. This system is an open design for variation different configurations and...

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Bibliographic Details
Main Authors: Nguyen Xuan Vinh, Le Quoc Ha, Nguyen Minh Thanh, Nguyen Ngoc Lam, Le Hoai Quoc
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Algorithm design and analysis
End effectors
Fuzzy-PID control
Joints
optimal design
Optimization
self-tuning control
Stewart-Gough Platform
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Summary:This paper presents the results of optimal design and control for a Stewart-Gough Platform. An experimental system was designed for the optimization of the parallel manipulator control based on a selected optimal configuration. This system is an open design for variation different configurations and controllers to support parallel manipulator research and applications. A parameters space investigation (PSI) algorithm with the Pareto optimal set was used to optimize parallel manipulator configuration with limited survey workspace. A tradition PID control and a self-tuning Fuzzy PID control algorithm were applied for real-time motion control of parallel manipulator. Quality system standards will be analyzed with different controllers. The system can be a useful tool for research and training purposes.
ISSN:2326-8123
DOI:10.1109/ICCIS.2015.7274587