摘要：This paper is concerned with the practical application control of a pneumatically actuated Stewart-Gough platform with 6-degrees of freedom （6-DOF）. The control approach for motion control of the platform is presented using a modern control technique, namely, linear quadratic Gaussinn （LQG） with reference tracking. The LQG controller is the combination of a Kalman filter, i.e., a linear-quadratic estimator （LQE） with a linear-quadratic regulator （LQR）. The robustness of the control scheme is accessed under various load conditions, and the experimental results are shown.

摘要：Describes a new architecture of a parallel robot with six degrees of freedom and focuses on improving orientation accuracy of movable platform in mechanism, error correction and control methods. A set of formulations about inverse kinematics, Jacobin matrix, and forward kinematics for the high precision 6-HTRT parallel robots is presented. The analysis of errors existing in the manipulator is discussed and a novel approach for error correction is advanced. By DSP technique, inverse kinematics is solved in real time conditions with high precision and the hardware control system is given. The experimental results demonstrate the effectiveness of the proposed technique.