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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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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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creator	Nguyen Xuan Vinh Le Quoc Ha Nguyen Minh Thanh Nguyen Ngoc Lam Le Hoai Quoc
description	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.
doi_str_mv	10.1109/ICCIS.2015.7274587
format	conference_proceeding
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identifier	ISSN: 2326-8123
ispartof	2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 2015, p.1-6
issn	2326-8123
language	eng
recordid	cdi_ieee_primary_7274587
source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Actuators Algorithm design and analysis End effectors Fuzzy-PID control Joints optimal design Optimization self-tuning control Stewart-Gough Platform
title	Optimal design and control of a Stewart-Gough Platform
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