Calculating force distributions for redundantly actuated tendon-based Stewart platforms

Abstract

Completely and redundantly restraint tendon-based Stewart platforms demand for a distribution of tendon forces to control the platform on a given trajectory. Thus, position control has to be extended by a tendon force controller which generates continuous and feasible force values. The computation of such force distributions can be formulated as a constrained optimization problem. Solving the problem is numerically expensive and requires an algorithm which is capable to be integrated into a realtime environment. In this paper, different algorithms for tendon force distribution are proposed and investigated with respect to their usability on a realtime system.