PERFORMANCE COMPARISON OF COMPUTER-BASED CONTROL AND EMBEDDED PROCESSOR-BASED CONTROL FOR MOVEMENT SYSTEM OF STEWART PLATFORM

• Main Author: (NIM: 23207158), WASTONO
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/13152
• Institution: Institut Teknologi Bandung

Stewart Platform is total parallel manipulator mechanism with six degree of freedom (6 DOF). Stewart Platform has a moving plane (platform) controlled by six arms (actuators) that placed on fix plane (base). Every connection between arm and plane uses universal joint. Hydraulic implementation is expensive and needed to find another implementation that uses motor as actuator.<p>This research uses miniature of Stewart Platform with DC motor as actuator. Implementation of control can be done using one controller for one actuator (embedded processor-based control). This structure results distributed control task for every process. Another control implementation that possible to be used is centralized control with one controller only. This implementation uses computer as controller (computer-based control).<p>The used control module is NMC from JR Kerr. PID Control on NMC is used for implementation of embedded processor-based control. Implementation of computer-based control uses PID control that programmed on computer and uses NMC as PWM generator.<p>The purpose of this research is to compare performance of position and orientation control between computer-based control and embedded processor-based control of Stewart Platform for application of Stewart Platform simulator. The compared performance is transient and steady state response. <br />