Characteristics analysis of dynamic model of 6-DOF Stewart platform
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摘要: 根据六自由度Stewart平台的动力学模型,利用矩阵分析的方法详细分析和证明了动力学模型的一些物理特性:动力学模型系数矩阵的有界性,矩阵函数的斜对称性以及动力学模型的线性参数化. 这些工作为基于六自由度Stewart平台动力学模型的非线性控制器设计、系统稳定性的证明以及系统物理参数的辨识奠定了理论基础.Abstract: Based on the derived dynamic model of a six-degree-of-freedom (6-DOF) Stewart platform, some physical characteristics of the model were analyzed and proved in detail using matrix analysis method, which consist of the boundedness of the coefficient matrixes of dynamic model, the skew-symmetry of the matrix functions, and the linear parameterization of the complete dynamic model of the 6-DOF Stewart platform. These works laid a foundation for the development of the nonlinear control strategies to achieve higher system performance by incorporating more structural system information, i.e. a model into the controller, and proving the stability of the corresponding control system. Furthermore, the linear parameterization model of the complete dynamic model can also be used in the physical parameters estimation of the dynamic system.
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Key words:
- six degrees of freedom /
- Stewart platform /
- dynamic model /
- skew-symmetry /
- linear parameterization
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