Kinematics, Dynamics Model and Nonlinear Control of a (Stewart-Gough) 6RUS Parallel Robot

Section: 
Research
Subsection: 
Course Project
Place: 
Faculty of Electrical Engineering
K.N. Toosi University of Technology (KNTU)
Tehran (Iran)
Associate: 
A. Nasr
H.D. Taghirad
Date: 
2014/06/21

A 6RUS parallel robot or Stewart-Gough platform is a type of parallel robot that incorporates six rotary actuators, commonly servo motor. This platform can be moved in the six degrees of freedom in which it is possible for a freely-suspended body to move. These are the three linear movements x, y, z (lateral, longitudinal and vertical), and the three rotations pitch, roll, & yaw. The term "six-axis" platform is also used.

In this project, first, I modeled the robot especially in the filed of kinematics and dynamics. Then, a vast number of nonlinear control methode used to control and analyize that robot.