Dynamic Modeling Using the Principle of Virtual Work and Decentralized PD Control of a Stewart-Gough Platform

• Davi Klein UFSC
• Daniel Fernando Tello Gamarra UFSM

Resumo

This paper presents the dynamic modeling using the Virtual Work principle, as well as the PD trajectory control of a parallel robotic manipulator known as the Stewart-Gough platform (SGP). Also, this paper contains the simulation of the kinematic equations, dynamics and control system. The simulations of the algorithms were developed in Matlab®. The paper obtained as results the dynamic modeling of the system using the Virtual Work principle, the closed-form solution of the equations of motion and the design of the control system using a decentralized PD controller of a SGP. Furthermore, all the analysis - kinematic modeling, dynamic modeling, and control - were simulated for a given trajectory. It is concluded that it is possible to use a closed-form solution for the equations of motion of the manipulator by means of the principle of Virtual Work, as well as that the performance of the designed controller was proven satisfactory for the application.

Palavras-chave: Analytical models, Closed-form solutions, Dynamics, Kinematics, Aerospace electronics, Mathematical models, Trajectory, Stewart-Gough platform, Manipulators in 6-SPS parallel configuration, Dynamic modeling by the principle of Virtual Work, Decentralized PD control of parallel robots