Model-Based Robust Trajectory Control of 6-DOF Stewart Platform

Abstract

A 6-DOF Stewart platform is designed and constructed as a parallel mechanism that consists of a rigid body moving plate, connected to a fixed base plate through six independent kinematics legs. The mechanism is implemented to achieve high precision tracking performance for an external control command using an accurate orientation sensor. A Reference trajectory is generated based on the feedback sensing elements of each actuator based on inverse kinematic and inverse dynamic models, several control schemes are implemented to achieve highest performance of the controller and the system. To ensure the reliability of the control model a virtual environment of the system has been built to verify the physical limits of the body motion. The hardware structure is tested and showed high performance and accuracy.