A Newton-Euler Formulation
for the Inverse Dynamics of the Stewart Platform Manipulator
by Bhaskar Dasgupta and T. S. Mruthyunjaya
Abstract:
This paper presents an inverse dynamic formulation by the Newton-Euler
approach for the Stewart platform
manipulator of the most general architecture and models all the
dynamic and gravity effects as well as the viscous friction at the joints.
It is shown that a proper elimination procedure results in a remarkably
economical and fast algorithm for the solution of actuator forces, which makes
the method quite suitable for on-line control purposes. In addition, the
parallelism inherent in the manipulator and in the modelling makes the
algorithm quite efficient in a parallel computing environment, where it
can be made as fast as the corresponding formulation for the 6-dof
serial manipulator.
The formulation has been implemented in a program and has been used for a
few trajectories planned for a test manipulator. Results of simulation
presented in the paper reveal the nature of the variation of actuator forces
in the Stewart platform and justify the dynamic modelling for control.