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Kinematics, dynamics and control of a stabilized platform with a 6-RUS parallel mechanism

Zhao, Yanzhi; Yu, Hongnian; Zhang, Jie; Yang, Jiantao; Zhao, Tieshi


Yanzhi Zhao

Jie Zhang

Jiantao Yang

Tieshi Zhao


This paper proposes a new control scheme of a stabilized platform with a 6-revolution universal spherical (6-RUS) parallel mechanism in non-inertial. A kinematics model of the stabilized platform with a 6-RUS parallel mechanism is developed using the screw theory which is a convenient way to analyse the velocity and acceleration of the whole rigid-body rather than a point on the body. Its dynamics model in a non-inertial frame is derived using the Newton– Euler linear–bilinear equation and virtual work principle which can simplify the dynamic modelling. Normally, a stabilized platform is a typical uncertain system due to the disturbance of the movements of the ship, parameter uncertainty, imprecision of the dynamic model and friction. To overcome the uncertainty, a sliding mode control (SMC) strategy with an extended state observer (ESO) is developed to control the stabilized platform. Simulation study of the platform is conducted using MATLAB and ADAMS. Compared with the computed torque control, the SM

Journal Article Type Article
Acceptance Date Feb 1, 2017
Publication Date 2017
Deposit Date Jun 22, 2022
Journal International Journal of Robotics and Automation
Publisher Institute of Advanced Engineering and Science
Peer Reviewed Peer Reviewed
Volume 32
Issue 3
Keywords Stabilized platform, parallel mechanism, extended state observer, sliding mode control, screw theory
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