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《Journal of Projectiles,Rockets,Missiles and Guidance》 2005-SD
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Dynamic Control Simulation of Parallel Platform

LIU Sheng LI Wan-long DU Yan-chun FANG Liang (Automation college,Harbin Engineering University,Harbin150001,China)  
Control of the parallel platform manipulator is almost an open field and the words reported are not rigorous. The 6-UPS Stewart platform was chosen in this paper for study.The dynamic function of the parallel platform was set up by applying theNewton-Euler method.A controller was deduced based on the control law.Trajectory tracking of the parallel platform was controlled by the PID control method.The trajectory tracking of the cycle performance was given,the simulation result illustrate that the design of the controller is right and the trajectory tracking control on the parallel platform is effective.So it can provide theoretical bases for the further control and performance improvement.
【CateGory Index】: TP242
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