Author Type

Graduate Student

Date of Award

1992

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Masory, Oren

Abstract

A Stewart platform is a six degree of freedom robot manipulator with its six links arranged in a parallel configuration. A dynamic model for the plant of each link, which consists of an amplifier, an electrohydraulic servo valve, and a hydraulic actuator, is found from open-loop step and frequency responses. To determine a model for the complete closed loop system, integrators located in the link input and feedback paths were added to the plant's model. PID controllers were designed to increase the system's bandwidth. Once control of the individual links was achieved, control algorithms were developed to control the motion of Stewart platform. The algorithm would move the platform through its initialization sequence, then control platform velocity, as dictated by the user.

Extent

96 p.

Comments

College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (M.S.)--Florida Atlantic University, 1992.|College of Engineering and Computer Science

Identifier

FADT14849

Format

pdf

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