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Trajectory planning and control of a Stewart platform-based end-effector with passive compliance for part assembly

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Abstract

This paper presents the kinematic analysis and trajectory planning for a six-degrees-of-freedom end-effector whose design is based on the Stewart platform mechanism. The end-effector is composed of two platforms and six linear actuators driven by stepper motors. A spring-loaded platform is used to provide passive compliance to the end-effector during a part assembly. A closed-form solution is derived for the inverse kinematic transformation and a computationally effective numerical solution is obtained for the forward kinematic transformation using the Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion are developed. Experimental results of tracking various test paths are presented.

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Authors and Affiliations

  1. Robotics and Control Laboratory, Department of Electrical Engineering, Catholic University of America, 20064, Washington DC, USA

    C. C. Nguyen, S. S. Antrazi, J-Y Park & Z-L Zhou

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  1. C. C. Nguyen
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  2. S. S. Antrazi
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  3. J-Y Park
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  4. Z-L Zhou
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Nguyen, C.C., Antrazi, S.S., Park, JY. et al. Trajectory planning and control of a Stewart platform-based end-effector with passive compliance for part assembly. J Intell Robot Syst 6, 263–281 (1992). https://doi.org/10.1007/BF00248019

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  • DOI: https://doi.org/10.1007/BF00248019

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