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Abstract
Stewart-Gough platform (SGP) is a popular parallel type manipulator that involves a 6 degrees of freedom (DOF) motion. In this paper, the process of mathematical modelling of SGP is presented. Two selected control algorithms that use PID controllers and weighted PID controllers are designed. Both control systems using these algorithms are implemented in MATLAB environment as well as on the actual SGP. Parameters of the controllers are optimized with the use of different integral performance criteria. Tests of the designed control systems on the computer model and on the SGP are presented.
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- Category:
- Conference activity
- Type:
- publikacja w wydawnictwie zbiorowym recenzowanym (także w materiałach konferencyjnych)
- Language:
- English
- Publication year:
- 2021
- Bibliographic description:
- Kolasiewicz J., Perżyło A., Piotrowski R.: Design of weighted PID controllers for control of the Stewart-Gough platform// / : , 2021,
- Verified by:
- Gdańsk University of Technology
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