%0 Journal Article %1 774.70005 %A Lebret, G. %A Liu, K. %A Lewis, F.L. %D 1993 %J J. Rob. Syst. %K algorithm; control path-planning; positions scheme; singularity step-by-step stiffness %N 5 %P 629-655 %T Dynamic analysis and control of a Stewart platform manipulator. %V 10 %X We study the dynamic equations of the Stewart platform manipulator. Because the dynamics are not explicitly given, we use a step-by-step algorithm. However, we give some insight into the structure and properties of these equations: We obtain compact expressions of some coefficients. These expressions should be interesting from a control point of view. A stiffness control scheme is designed for milling application. Some path-planning notions are discussed that take into account singularity positions and the required task.

@article{774.70005, abstract = {We study the dynamic equations of the Stewart platform manipulator. Because the dynamics are not explicitly given, we use a step-by-step algorithm. However, we give some insight into the structure and properties of these equations: We obtain compact expressions of some coefficients. These expressions should be interesting from a control point of view. A stiffness control scheme is designed for milling application. Some path-planning notions are discussed that take into account singularity positions and the required task. }, added-at = {2008-03-02T02:12:02.000+0100}, author = {Lebret, G. and Liu, K. and Lewis, F.L.}, biburl = {https://www.bibsonomy.org/bibtex/29d043ea90e61405cad97db2083f27f27/dmartins}, classmath = {*70B15 Mechanisms 70E99 Dynamics of a rigid body 70Q05 Control of mechanical systems}, description = {robotica-bib}, interhash = {fbfa07288c44cd6ea0d274f17e486b9d}, intrahash = {9d043ea90e61405cad97db2083f27f27}, journal = {J. Rob. Syst.}, keywords = {algorithm; control path-planning; positions scheme; singularity step-by-step stiffness}, language = {English}, number = 5, pages = {629-655}, timestamp = {2008-03-02T02:13:28.000+0100}, title = {Dynamic analysis and control of a {Stewart} platform manipulator.}, volume = 10, year = 1993 }