This parallel kinematic Stewart-Gough platform uses fluidic muscles from Festo as linear drives and a central spring as opponent. These are working like human muscles and can produce a tensile force but no compressive force. In order to raise these forces, the spring is needed. An accurate model of the spring is identified for implementing an „exact feedforward linearization“. Different control strategies are researched and compared. Current research is done in the area of structural testing and motion simulation.
Institut für Robotik
Johannes Kepler Universität Linz
Altenberger Straße 69
Science Park 1, 5. Stock, Raum MT535