PID Controller For Six Degrees Of Freedom (DOF) Stewart Platform Hexapod

This project is about the study of controlling the stability of Stewart platform which can perform six degrees of freedom (DOF) through the axes of x,y and z. In the current industries, Stewart Platform is used as flight simulators and automatic robot surgery but in this project’s scope, it is used...

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Main Author: Sobri, Mohamad Hafiz
Format: Final Year Project
Language: English
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-utpedia.19097 /
Published: 2017
Online Access: http://utpedia.utp.edu.my/19097/1/FYPII_Final%20Dissertation_Mohamad%20Hafiz%20Bin%20Sobri_19112_EE.pdf
http://utpedia.utp.edu.my/19097/
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id utp-utpedia.19097
recordtype eprints
spelling utp-utpedia.190972019-06-20T11:05:52Z http://utpedia.utp.edu.my/19097/ PID Controller For Six Degrees Of Freedom (DOF) Stewart Platform Hexapod Sobri, Mohamad Hafiz This project is about the study of controlling the stability of Stewart platform which can perform six degrees of freedom (DOF) through the axes of x,y and z. In the current industries, Stewart Platform is used as flight simulators and automatic robot surgery but in this project’s scope, it is used as a tool for auto adjustment of a camera platform. Stewart platform consists of two platforms, base and top platforms in which the top one is the one that moves and the bottom one will remain static. The movement of the top platform is affected by the upright and downright motion of its six actuator legs. Stewart platform needs to be enhanced to ensure the stability of the load on top of it. PID control technique is needed for the purposes with the help of sensors to achieve the desired outcome. The results from the simulation and experimental show that the objectives can be achieved but are restricted to some limitations. The outcomes of this project prove that PID control method is effective in controlling the stability of the top platform of Stewart platform. 2017-09 Final Year Project NonPeerReviewed application/pdf en http://utpedia.utp.edu.my/19097/1/FYPII_Final%20Dissertation_Mohamad%20Hafiz%20Bin%20Sobri_19112_EE.pdf Sobri, Mohamad Hafiz (2017) PID Controller For Six Degrees Of Freedom (DOF) Stewart Platform Hexapod. UNSPECIFIED.
institution Universiti Teknologi Petronas
collection UTPedia
language English
description This project is about the study of controlling the stability of Stewart platform which can perform six degrees of freedom (DOF) through the axes of x,y and z. In the current industries, Stewart Platform is used as flight simulators and automatic robot surgery but in this project’s scope, it is used as a tool for auto adjustment of a camera platform. Stewart platform consists of two platforms, base and top platforms in which the top one is the one that moves and the bottom one will remain static. The movement of the top platform is affected by the upright and downright motion of its six actuator legs. Stewart platform needs to be enhanced to ensure the stability of the load on top of it. PID control technique is needed for the purposes with the help of sensors to achieve the desired outcome. The results from the simulation and experimental show that the objectives can be achieved but are restricted to some limitations. The outcomes of this project prove that PID control method is effective in controlling the stability of the top platform of Stewart platform.
format Final Year Project
author Sobri, Mohamad Hafiz
spellingShingle Sobri, Mohamad Hafiz
PID Controller For Six Degrees Of Freedom (DOF) Stewart Platform Hexapod
author_sort Sobri, Mohamad Hafiz
title PID Controller For Six Degrees Of Freedom (DOF) Stewart Platform Hexapod
title_short PID Controller For Six Degrees Of Freedom (DOF) Stewart Platform Hexapod
title_full PID Controller For Six Degrees Of Freedom (DOF) Stewart Platform Hexapod
title_fullStr PID Controller For Six Degrees Of Freedom (DOF) Stewart Platform Hexapod
title_full_unstemmed PID Controller For Six Degrees Of Freedom (DOF) Stewart Platform Hexapod
title_sort pid controller for six degrees of freedom (dof) stewart platform hexapod
publishDate 2017
url http://utpedia.utp.edu.my/19097/1/FYPII_Final%20Dissertation_Mohamad%20Hafiz%20Bin%20Sobri_19112_EE.pdf
http://utpedia.utp.edu.my/19097/
_version_ 1741195449052692480
score 11.62408

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