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This paper proposes the application of a super twisting algorithm based control strategy for the position control of a Stewart platform. The conventional sliding mode controller is making use of a discontinuous feedback control, hence the control effort is discontinuous in nature. The discontinuity in feedback control induces the dangerous high frequency vibrations called chattering, which is highly...
A Stewart platform manipulator is 6 degrees of freedom parallel robot with a superior performance over serial robots. The forward kinematic problem of a Stewart platform is to determine the actual position and orientation of the movable platform with respect to the base for a given set of leg lengths. The existing analytical methods to solve this problem give multiple solutions, out of which an exact...
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