Calculating force distributions for redundantly actuated tendon-based Stewart platforms

被引：43

作者：

Bruckmann, Tobias ^{[1
]}

Pott, Andreas ^{[1
]}

Hiller, Manfred ^{[1
]}

机构：

[1] Univ Duisburg Gesamthsch, Chair Mechatron, 100 Duisburg, Germany

来源：

ADVANCES IN ROBOT KINEMATICS: MECHANISMS AND MOTION | 2006年

关键词：

D O I：

10.1007/978-1-4020-4941-5_44

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Completely and redundantly restraint tendon-based Stewart platforms demand for a distribution of tendon forces to control the platform on a given trajectory. Thus, position control has to be extended by a tendon force controller which generates continuous and feasible force values. The computation of such force distributions can be formulated as a constrained optimization problem. Solving the problem is numerically expensive and requires an algorithm which is capable to be integrated into a realtime environment. In this paper, different algorithms for tendon force distribution are proposed and investigated with respect to their usability on a realtime system.

引用

页码：403 / +

页数：2