Dynamic model of an electrohydraulic Stewart platform manipulator in joint space.

Vítor Tumelero Valente¹; Rodrigo Manuel Lebrón García¹; Eduardo Andre Perondi¹

¹ Universidade Federal do Rio Grande do Sul

doi:10.20906/CPS/COB-2015-1389

Resumo

Some robotic control strategies as computed torque are designed to be applied in joint space. However, literature on parallel robots commonly presents only task space formulation due to its simplicity. In this sense, this paper presents a joint space representation for the simplified dynamic model of a hydraulic Stewart Platform manipulator considering the nonlinear dynamic properties of these kind of systems, which can be later used for joint state based control purpose. The rigid body equations of motion, neglecting the legs inertia, and hydraulics dynamics, including servo valve models, are used to calculate the state equations in the task space of the platform; and, aiming at control applications, the correspondent Inertia and Coriolis matrices properties are proven.

Palavras-chave: Parallel manipulator; Dynamics; Joint space