Design of a Gough-Stewart Platform Based on Visual Servoing Controller

Real Coded Mixed Integer Genetic Algorithm for Geometry Optimization of Flight Simulator Mechanism Based on Rotary Stewart Platform

Designing the motion platform for the flight simulator is closely coupled with the particular aircraft’s flight envelope. While in training, the pilot on the motion platform has to experience the same feeling as in the aircraft. That means that flight simulators need to simulate all flight cases and forces acting upon the pilot during flight. Among many existing mechanisms, parallel mechanisms based on the Stewart platform are suitable because they have six degrees of freedom. In this paper, a real coded mixed integer genetic algorithm (RCMIGA) is applied for geometry optimization of the Stewart platform with rotary actuators (6-RUS) to design a mechanism with appropriate physical limitations of workspace and motion performances. The chosen algorithm proved that it can find the best global solution with all imposed constraints. At the same time, the obtained geometry can be manufactured because integer solutions can be mapped to available discrete values. Geometry is defined with a minimum number of parameters that fully define the mechanism with all constraints. These geometric parameters are then optimized to obtain custom-tailored geometry for aircraft flight simulation.

Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot

In this paper, a parallel Image-based visual servoing/force controller is developed in order to solve the interaction problem between the collaborative robot and the environment so that the robot can track the position trajectory and the desired force at the same time. This control methodology is based on the image-based visual servoing (IBVS) dynamic computed torque control and couples the force control feedback in parallel. Simulations are performed on a collaborative Delta robot and two types of image features are tested to determine which one is better for this parallel IBVS/force controller. The results show the efficiency of this controller.