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

A 6RUS parallel robot or Stewart-Gough platform is a type of parallel robot that incorporates six rotary actuators, a common 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 field of kinematics and dynamics. Then, a vast number of nonlinear control methods used to control and analyze that robot.

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Date: 
Sat, 2014/06/21
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Faculty of Electrical Engineering
K.N. Toosi University of Technology (KNTU)
Tehran (Iran)