多軸負荷試験装置への応用を目指したスチュワートプラットフォームの位置ベースインピーダンス制御

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  • Position Control Based Impedance Control of Stewart Platform Aiming to a Multi Axis Load Test Device

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<p>Various kinds of load test are conducted in the development of mechatronics devices. Mechanical single axis spring and hydraulic devices are often used as a load force generator. However, it is difficult to apply this test method to complex mechanical system such as steering mechanism of vehicles. Against this background, authors have proposed the method combining Stewart platform and impedance control to deal with this problem. Combination of Stewart platform and impedance control would realize multi-axis spring. It is expected that this multi-axis spring is useful to solve above mentioned problem. This paper describes the development of the mechanical impedance model, implementation of the impedance control system. After that evaluation of the control system by experiments is shown. From these experiments, it was confirmed measured spring constants agree with spring constant specified by the impedance model.</p>

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