An efficient method for solution of inverse dynamics of Stewart platform

摘要

Purpose - The purpose of this paper is to present an algorithm for inverse dynamics problem of a generally configured Stewart platform which is both fast and accurate. Design/methodology/approach - A Newton-Euler approach is presented, using the advantage of body coordinate frames, instead of inertial ones in order to omit redundant matrix transformations. Findings - The method is found to lead to an efficient algorithm for inverse dynamics of a generally configured Stewart platform, which is at least three times faster than the available algorithms. This algorithm is at the same time more accurate, due to considering the gyroscopic effects of rotary parts within the legs. Originality/value - Utilizing body coordinate frames for both platform and legs (instead of inertial ones) and taking into account the gyroscopic effects of the rotary parts within the leg, are the innovative aspects of this paper. The more significant achievement of the presented method is the remarkably faster rate of convergence, which is very important in feedback linearization control.