Active acceleration compensation using a Stewart-platform on a mobile robot

Graf, René; Dillmann, Rüdiger

doi:10.1109/eurbot.1997.633569

Cited by 31 publications

(20 citation statements)

References 2 publications

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“…Then, the rotation angles σ and τ of the two rotation axes of the U-joint will vary in the τ . With change of the design variables r and L, the orientational workspace can be obtained by using a boundary search method [17][18][19].…”

Section: Orientational Workpace and Dexterity Analysismentioning

confidence: 99%

Design and analysis of a 6-DOF mobile parallel robot with 3 limbs

Zhang

Wan

et al. 2011

J Mech Sci Technol

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Mobile parallel robots (MPR), which structurally configured a moving platform and several parallel limbs with an actuating wheel at the end of each limb, exhibit advantages in high mobility, high load capability and high flexibility in complex task environments. In this paper, a 6-DOF MPR with 3-PPUU (Prismatic-Prismatic Universal-Universal) limbs is proposed. The structural scheme and inverse kinematics are first presented; the orientational workspace and the dexterity of the MPR are analyzed in detail. A parametric optimal design model is then developed; the optimal scheme of the MPR is obtained. The constant-posture control scheme and algorithm are also proposed in this paper. A prototype of the 3-PPUU MPR with omni-orientational wheels is developed and the precision for both translation and orientation of the prototype is measured by experiments, which verify the feasibility of the proposed MPR scheme.

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Section: Orientational Workpace and Dexterity Analysismentioning

confidence: 99%

Design and analysis of a 6-DOF mobile parallel robot with 3 limbs

Zhang

Wan

et al. 2011

J Mech Sci Technol

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“…The advantages of Stewart Platforms are the excellent weight and payload capability ratio and precise positioning [11]. A Stewart platform is commonly used in obtaining acceleration, but it can also generate an anti acceleration if the base platform is moving [18]; application of Stewart platforms compensate acceleration of a moving robot. However, only vibrations of relatively minimal amplitude are considered [18], [19], [20], [21].…”

Section: Testbed Descriptionmentioning

confidence: 99%

“…A Stewart platform is commonly used in obtaining acceleration, but it can also generate an anti acceleration if the base platform is moving [18]; application of Stewart platforms compensate acceleration of a moving robot. However, only vibrations of relatively minimal amplitude are considered [18], [19], [20], [21]. A greater amplitude is considered in vibration control simulation of a Stewart-Gough platform on flexible suspension [22], where the platform compensates the movements of a radio telescope mounted at a suspending structure.…”

Section: Testbed Descriptionmentioning

confidence: 99%

An Active helideck testbed for floating structures based on a Stewart-Gough platform

Campos

Quintero

Saltarén

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-A parallel robot testbed based on Stewart-Gough platform called Active-helideck is designed, developed and tested as a helicopter floating helideck. The objective of this testbed is to show the advantages of helicopters that use an active helideck upon landing on and taking off from ships or from offshore structures. Active-helideck compensates simulated movements of a ship at sea. The main goal of this study is to maintain the robot's end effector (helideck) in a quasi-static position in accordance to an absolute inertial frame. Compensation is carried out through the coordinate action of its six prismatic actuators in function of an inertial measurement unit. Moreover, the simulation of the sea movement is done by a parallel robot called ship platform with three degrees of freedom. The ship platform is built with a vertical oscillation along the z axis, i.e. heave, and rotates on remaining axes, i.e. roll and pitch. Active helideck is able to compensate simulated movements by considering the ship as an inertial frame as observed in the experiment.

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“…Graf and Dillmann used a Stewart platform installed on the mobile robot so that abrupt vehicle movements and accelerations affect the object in a smooth way in x-and y-direction. The Stewart platform is moved so that the gravity create a contrarily directed acceleration (Graf & Dillmann, 1997), (Graf & Dillmann, 1999) The controller of the stewart platform is connected directly to the controller of the mobile system to get the latest acceleration values all the time. The acceleration vector of the robot is inverted and transformed into the coordinate system of the platform.…”

Section: Assistance Strategiesmentioning

confidence: 99%