Stewart platform vibration control strategy based on dynamics

With heavy load and high center of gravity, the Stewart platform based on kinematics control strategy vibrated in one degree of freedom will cause the vibration in other degrees of freedom. To solve this problem, a vibration control strategy used in the position closed loop was presented based on the Stewart platform dynamics. According to this control strategy, the actuator force, calculated by the dynamics model, was used to control the platform vibration, and the control precision was improved. At last this vibration control strategy was validated with the Stewart platform in 15°pitch posture. Comparing the vibration response of the Stewart platform controlled by kinematics and dynamics respectively, the results showed that the proposed control strategy could reduce the coupling vibration caused by the platform load effectively, and could achieve the precise vibration control in any platform pose.