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Robust nonlinear observer for forward kinematics solution of a Stewart platform: an experimental verification

Published online by Cambridge University Press:  23 April 2001

Dong Hwan Kim ,
Ji-Yoon Kang  and
Kyo-Il Lee
Dong Hwan Kim
Affiliation:
Seoul National University of Technology, Dept. of Mechanical Design, 172 Kongneung-dong, Nowon-gu, Seoul, 139–743 (Korea)dhkim@plaza1.snut.ac.kr
Ji-Yoon Kang
Affiliation:
Electro Mechanics Lab., Samsung Advanced Institute of Technology, P.O. Box 111, Suwon, 440–600 (Korea)jykang@geocities.com
Kyo-Il Lee
Affiliation:
Dept. of Mechanical Design and Production Engineering, Seoul National University, San 56-1, Shinlim-dong, Kwanak-gu, Seoul, 151–742 (Korea)lki@alliant.snu.ac.kr
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Abstract

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A 6-DOF motion bed is proposed as a nonlinear robust observer to solve the forward kinematics problem of a Stewart platform. The stability of the estimation error dynamics is proved via Lyapunov stability analysis and the error dynamics shows practical stability. An observer design algorithm which tackles the nonlinearity and uncertainty both in the system and in the output is presented by a new arithmetic Riccati equation. The estimation performance for the algorithm is verified using both simulations and experiments. The equation employs the bounding condition computed from the platform dynamics.

Keywords

Robust nonlinear observerForward kinematics problemStewart platformPractical stabilityArithmetic Riccati equation
Type
Research Article
Information
Robotica , Volume 18 , Issue 6 , November 2000 , pp. 601 - 610
Copyright
© 2000 Cambridge University Press