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Automatic Differentiation Based Dynamic Model for a Mobile Stewart Platform

Automatic Differentiation Based Dynamic Model for a Mobile Stewart Platform,Xiaoli Bai,James D. Turner,John L. Junkins,Dynacs Military Defense

Automatic Differentiation Based Dynamic Model for a Mobile Stewart Platform   (Citations: 3)
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Abstract This paper presents a novel approach to dynamical modeling,and uses this approach to model,the dynamics,of a Stewart platform. The Stewart platform is used for a ground-based next generation high-fidelity test bed for modeling,and simulating the interactions of two or more interacting on-orbit satellites during various phases of proximity operations. Satellite motions will be emulated by mounting,the satellite models on the Stewart platform. Comprehensive,dynamic,models will be required for modeling and controlling the motion of this system, so that the envisioned motion can actually approximate on-orbit behavior, even during proximity operations involv- ing dynamic contact events. Automatic differentiation, which operates on kinematic descriptions of the Stewart platform, while invoking hidden software tools for numer- ically generating and assembling the equations of motion, is utilized for analyzing the dynamic response of the system. This approach helps free analysts from having to de- rive, code, and validate the sensitivity models and enables development of a generic code for multi-body systems. The results can be used to generate various simpli- fied models and help understand how variations of the system parameters affect the dynamic,response.
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    • ...A complete dynamic model and a robust adaptive controller for the Stewart platform have been developed using a novel automatic differentiation method in [3, 4]...
    • ...Details about solving for the compact form of the mass matrix M can be found in [3, 4, 15]...

    Xiaoli Baiet al. Modeling, Control and Simulation of a Novel Mobile Robotic System

    • ...We are developing an autonomous mobile robotic system to emulate six degree of freedom (DOF) relative spacecraft motion during proximity operations [1], [2], [3]...
    • ...A complete dynamic model and a robust adaptive controller for the Stewart Platform have been developed using a novel automatic dierentiation method in [4], [5], and [6]...
    • ...Details about solving for the compact form of the mass matrix M can be found in [17], [4], [5], and [6]...

    Xiaoli Baiet al. Dynamics, Control and Simulation of a Mobile Robotic System for 6DOF M...

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