Evaluation of Galil DMC-4080 as a Controller of Stewart Platform

Detta är en Uppsats för yrkesexamina på avancerad nivå från Lunds universitet/Institutionen för reglerteknik

Författare: Christer Engblom; [2014]

Nyckelord: Technology and Engineering;

Sammanfattning: Evaluation of the Galil DMC–4080 as a closed-loop controller of a stepper-motor driven Stewart Platform with mm- and mrad- precision and resolution. The project involves a full implementation and optimization of kinematic equations, implementing modes of motion & controller structure, as well the use of MATLAB simulations. The 4080 proves successful in static positioning but have limitations in timeperformances with the kinematics as well as smoothness of motion due to error handling.

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