Inertial stabilization system based on a Gough-Stewart parallel platform

Abstract

The goal of this project is to develop a system able to control the balance of a par- allel platform robot. The project includes 1) the Gough-Stewart parallel robot, created and assembled at IRI 's lab; 2) 6 Dynamixel rotary actuators, to move the platform; 3) and Arduino® UNO electronic board, to control the rotary actuators and to process data provided by 4) an inertia measurement unit MPU-6050 sensor. In this project it is described how the communication between the devices and the electronic board, which acts as the master, is established. It is speci ed what kind, and how, the communication is performed between each device in order to send and receive data. As the controller is implemented on Arduino®, the programming language required is Processing. Given the dimensions of the prototype, the project is not focused on the analysis of the involved forces, but in its kinematics. Therefore, this work also details the algebraic ma- nipulations needed to set the di erent con gurations that the platform demands according to the kinematics of the parallel robot.