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Proceedings Paper

Modeling and active vibration control of six-DOF manipulator through μ-synthesis with parameter uncertainties
Author(s): Kaiping Yu; Ying Wu
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Paper Abstract

A new linear dynamic model of a six-spherical-prismatic-spherical (SPS) Stewart platform with the base excitation was formulated via Kane’s method. In order to satisfy the practical situation, the uncertainties of mass center location, stiffness and damping were concerned. Then a robust μ-synthesis controller was developed by applying D-K iteration to attenuate the base excitation. Comparisons were conducted by analyzing the responses of the open and closed loops in the frequency and time domain. Simulation results indicated that the proposed robust controller is of fine properties and good robustness, which laid a sound foundation of active micro-vibration control of a satellite.

Paper Details

Date Published: 6 March 2015
PDF: 11 pages
Proc. SPIE 9446, Ninth International Symposium on Precision Engineering Measurement and Instrumentation, 94460S (6 March 2015); doi: 10.1117/12.2180664
Show Author Affiliations
Kaiping Yu, Harbin Institute of Technology (China)
Ying Wu, Harbin Institute of Technology (China)

Published in SPIE Proceedings Vol. 9446:
Ninth International Symposium on Precision Engineering Measurement and Instrumentation
Junning Cui; Jiubin Tan; Xianfang Wen, Editor(s)

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