Position control of a Stewart platform using inverse dynamics control with approximate dynamics

Configuration-dependent nonlinear coefficient matrices in the dynamic equation of a robot manipulator impose computational burden in real-time implementation of tracking control based on the inverse dynamics controller (IDC). However, parallel manipulators such as a Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range, nonlinear coefficient matrices can be approximated to constant ones. The modeling errors caused by such approximation are compensated for by H∞ controller that treats the error as disturbance. The proposed IDC with approximate dynamics combined with H∞ control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement.

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