Architecture of predictive control for a Stewart platform manipulator

This paper presents the elaboration of a comprehensive Matlab-Simulink™ virtual environment of a Stewart platform. This simulation tool includes the kinematic and dynamic modeling of the platform, along with the control loops of the actuators and coupled to a trajectory generation module, it also offers complete visualization features through a dedicated graphic user interface. This simulator was modularly designed following open architecture principles, with plug and play modules allowing a global kinematics, dynamics and control of the machine integral analysis. The first part of the paper focuses on the features of this simulator, by describing the different available models and tools. Based on this computer-aided control system design environment, then the second part develops a comparison between two different control strategies, on the one hand, the classical PID joint control structure and on the other hand, the Generalized Predictive Control (GPC) strategy. Finally, the virtual environment provides time domain results and performance comparison, in addition the spatial tracking error and the disturbance reaction are analyzed for both controllers, showing better accuracy with the GPC one.

[1]  Zhuxin Zhang,et al.  Modeling and Movement Simulation of a Manipulator of 6-DOF Based on Stewart Platform with Pro/E , 2007, 2007 10th IEEE International Conference on Computer-Aided Design and Computer Graphics.

[2]  R. Izadi-Zamanabadi,et al.  Model predictive controller combined with LQG controller and velocity feedback to control the stewart platform , 2006, 9th IEEE International Workshop on Advanced Motion Control, 2006..

[3]  Joseph A. Falco.  Simulation Tools for Collaborative Exploration of Hexapod Machine Capabilities and Applications , 1997 .

[4]  Eduardo F. Camacho,et al.  Model Predictive Controllers , 2007 .

[5]  Didier Dumur,et al.  Control of a 6-DOF Parallel Manipulator through a Mechatronic Approach , 2007 .

[6]  L. Tsai.  Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work , 2000 .

[7]  Jae-Bok Song,et al.  Position control of a Stewart platform using inverse dynamics control with approximate dynamics , 2003 .

[8]  M. Eghtesad,et al.  Position control of a stewart-gough platform using inverse dynamics method with full dynamics , 2006, 9th IEEE International Workshop on Advanced Motion Control, 2006..

[9]  Jacques Richalet,et al.  La commande prédictive , 1998 .

[10]  Jan M. Maciejowski,et al.  Predictive control : with constraints , 2002 .

[11]  D. Stewart,et al.  A Platform with Six Degrees of Freedom , 1965 .

[12]  Yu Yao,et al.  Kinematic Optimal Design of 6-UPS Parallel Manipulator , 2006, 2006 International Conference on Mechatronics and Automation.

[13]  L. W. Tsai,et al.  Robot Analysis: The Mechanics of Serial and Parallel Ma-nipulators , 1999 .

[14]  Volker Urban,et al.  A Stewart platform for precision surgery , 2003 .

[15]  Michael Blum,et al.  Design of a Hexapod Motion Cueing System for the NASA Ames Vertical Motion Simulator , 2002 .

[16]  Yung Ting,et al.  Modeling and Control for a Gough-Stewart Platform CNC Machine , 2004, ICRA.

[17]  Atsuo Takanishi,et al.  Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  M. Bergamasco,et al.  Dynamics of parallel manipulators by means of screw theory , 2003 .

[19]  H B Guo,et al.  Dynamic analysis and simulation of a six degree of freedom Stewart platform manipulator , 2006 .

[20]  V. De Sapio.  Some approaches for modeling and analysis of a parallel mechanism with stewart platform architecture , 1998 .