There are two files uploaded.
One file computes the dynamic model of a Stewart - Gough parallel robot for task space control. The dynamic model is explicit and only depend on end effector position and velocity.
The other file computes the regressor matrix Y used in an adaptive controller based on such dynamic model.
The interested readers can download the articles [1] and [2] for further information.
References:
[1] E. Yime, R. Salteren, J. Diaz. Robust adaptive control of the Stewart-Gough robot in the task space. American Control Conference. 2010.
[2] E. Yime, R. Salteren, C. Garcia, J.M. Sabater. Robot based on task-space dynamical model. IET Control Theory & Applications, (V:5,I:18). 2011.
인용 양식
Eugenio (2024). Stewart - Gough Dynamic Model and Task Space Control (https://www.mathworks.com/matlabcentral/fileexchange/55028-stewart-gough-dynamic-model-and-task-space-control), MATLAB Central File Exchange. 검색됨 .
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