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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
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 the work surface. The controller was designed based on the concept of admittance, which relates the position commands to the robot with the difference between the contact force and a given reference. To demonstrate the performance of the designed controller, a test based on a drawing task is presented. The experimental set up includes a Stewart platform with a load cell as the contact sensor installed in the mobile platform and a marker as a tool. The drawing task was performed on a white dry board mounted over an oscillating actuator. The results of this experiment demonstrate the adequate behavior of the controller given that the drawing could be done, even without using the knowledge of the trajectory of the board. This enables the Stewart platform for tasks that involve physical interaction with the environment.

Index Terms—hybrid control, parallel robot, admittance control, Stewart platform, drawing manipulator

Cite: Cristian A. Vergara and Carlos F. Rodriguez, "Hybrid Position-force Control for a Stewart Platform," Jounal of Automation and Control Engineering, Vol. 5, No. 1, pp. 10-13, June, 2017. doi: 10.18178/joace.5.1.10-13
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