TAILIEUCHUNG - Hybrid position force control for a stewart platform

This paper presents the development of a hybrid position-force controller for a Stewart platform to perform tasks with contact between the mobile platform and their work environment. This contact is relevant, due to the restriction between the platform motion and the work surface. | Journal of Automation and Control Engineering Vol. 5, No. 1, June 2017 Hybrid Position-force Control for a Stewart Platform Cristian A. Vergara and Carlos F. Rodriguez Department of Mechanical Engineering, Universidad de los Andes, Bogotá, Colombia Email: {, crodrigu}@ hybrid control in a Stewart platform to draw an ellipse in a plane. The force feedback was realized by 6 single-axis load-cells, each placed in one link between the actuator and the moving platform. Those signals did the feedback of a pure force control that commanded the actuator torques. In this project a 6 DOF (degrees of freedom) load-cell is placed in the end-effector to register the contact force data, and its feedback will be combined with the data of the encoders to command the actuators through an admittance model. The proposed task is to draw a given curve in a moving plane surface. Position commands are used to control two degrees of freedom perpendicular to the surface, while the contact direction is driven by a force controller. The plane surface oscillates in the perpendicular direction of the drawing plane. The knowledge of the motion of the surface is not used for the contact control. In order to achieve this objective, a position-force hybrid controller is implemented in the Stewart platform. This article will be structured as follows: First the approach of the methodology is described with more detail. Next a dynamic modeling and the controller description are developed, followed by the description of the experimental setup and the validation test. Then, the results of the test are presented and discussed. Conclusions and future work recommendations are presented in the last section. Abstract—This paper presents the development of a hybrid position-force controller for a Stewart platform to perform tasks with contact between the mobile platform and their work environment. This contact is relevant, due to the restriction between the platform motion and

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• Journal of Automation and Control Engineering
• Hybrid position force control for a stewart platform
• Hybrid position force control
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