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Stewart - Gough Dynamic Model and Task Space Control

Version 2.0.0.0 (8.83 KB) by Eugenio
This file compute the matrices M, C and vector g for the Stewart - Gough Parallel Robot
2.5
(2)

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Updated 21 Jan 2016

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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.

Cite As

Eugenio (2023). 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. Retrieved .

MATLAB Release Compatibility
Created with R2010a
Compatible with any release
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Version Published Release Notes
2.0.0.0

Added file "stw_ymatrix.m" for computing regressor matrix Y.
1.0.0.0

Added required file "stw_data.m" for geometric data for stewart gough robot.