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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...
This paper presents a technique to control the Stewart platform using a Smooth Second Order sliding Mode (SSOSM) Controller based on modified “twisting” algorithm for relative degree two systems. For a given position of the platform, the leg lengths and leg velocities are estimated using inverse kinematics. The desired position of the platform has been achieved with a smooth control using a Smooth...
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