ABSTRACT 6-RSS Stewart-Gough parallel manipulator contains six crank-rod limbs connecting the base and moving platforms to each other, forming a 6DOF manipulator. In this paper, we introduce a novel decoupled inverse dynamic model for this manipulator based on the Force Distribution Algorithm. The performance of the proposed model was evaluated in tracking a complex trajectory (of multiple segments with simultaneous translational and rotational motions) using feedback-linearization control in the joint space and compared with that of the Lagrangian inverse dynamic model. Results showed that this model leads to a better performance in feedback-linearization control, especially when the reference trajectory is quantized, and with less calculation burden in comparison with the Lagrangian model. The control system employing both models showed robustness against payload uncertainty on the moving platform (150% of the moving platform’s mass). The performance assessment and the robustness approval were performed in simulation using a Simscape model specifically built for this purpose in the Simulink environment.

中文翻译：

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使用基于力分布算法的新型逆动力学模型通过反馈线性化控制对 6-RSS Stewart-Gough 机械手进行轨迹跟踪

摘要 6-RSS Stewart-Gough 并联机械手包含六个曲柄臂，将底座和移动平台相互连接，形成一个 6DOF 机械手。在本文中，我们介绍了一种基于力分布算法的新型机械臂解耦逆动力学模型。使用关节空间中的反馈线性化控制，在跟踪复杂轨迹（具有同时平移和旋转运动的多个段）方面评估了所提出模型的性能，并与拉格朗日逆动力学模型的性能进行了比较。结果表明，该模型在反馈线性化控制方面具有更好的性能，尤其是在参考轨迹被量化时，与拉格朗日模型相比，计算负担更小。采用这两种模型的控制系统在移动平台（移动平台质量的 150%）上表现出对有效载荷不确定性的鲁棒性。在 Simulink 环境中使用专门为此目的构建的 Simscape 模型在仿真中执行性能评估和稳健性批准。