image thumbnail

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

441 Downloads

Updated 21 Jan 2016

View License

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 (2022). 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
Platform Compatibility
Windows macOS Linux

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!