Local Modal Space Control Design for a 6-DOF Parallel Manipulator

Abstract

A novel design method for modal space controller with dynamic pressure feedback is proposed for hydraulically-driven Stewart platforms. By exploiting properties of the joint-space inverse mass matrix, an analytic modal matrix is derived which can be used for transforming the highly coupled multiple-input multiple-output (MIMO) dynamics into six independent single-input single-output (SISO) channels in modal space. Based on classical control method, the modal space controller with dynamic pressure feedback is implemented and used to broaden the bandwidth of each channel in modal space separately. The effectiveness of the proposed method is examined through experiment.