Modeling and active vibration control of six-DOF manipulator through μ-synthesis with parameter uncertainties

Kaiping Yu; Ying Wu

doi:10.1117/12.2180664

6 March 2015 Modeling and active vibration control of six-DOF manipulator through μ-synthesis with parameter uncertainties

Kaiping Yu, Ying Wu

Author Affiliations +

Proceedings Volume 9446, Ninth International Symposium on Precision Engineering Measurement and Instrumentation; 94460S (2015) https://doi.org/10.1117/12.2180664
Event: International Symposium on Precision Engineering Measurement and Instrumentation, 2014, Changsha/Zhangjiajie, China

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.

Citation Download Citation

Kaiping Yu and Ying Wu "Modeling and active vibration control of six-DOF manipulator through μ-synthesis with parameter uncertainties", Proc. SPIE 9446, Ninth International Symposium on Precision Engineering Measurement and Instrumentation, 94460S (6 March 2015); https://doi.org/10.1117/12.2180664

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