NI LabView - Matlab SimMechanics Stewart platform design

Abstract

The article deals with approach of using NI Labview and Matlab SimMechanics for the designing of Stewart platform model of dynamics and its control. Matlab SimMechanics was used as a tool for the multi body dynamics modeling of the mechanism. The advantage of working within this computational environment is the possibility of the model linearization at a specified operating point and receiving linear state space model. Another benefit is the option of designing of the machine control and also the control simulations may be performed in the same environment. On the other hand NI LabView seems to be better for the real-time control implementation because of the possibility of real-time computer communication and possibility of FPGA chipset direct configuration. NI LabView has also ability to work with Matlab commands, thus possibility of Matlabmodels importing. Advantages of using both of environments are presented on the example of Stewart platform. The presented approach is quite complex and seems to be suitable for a dynamics modeling and a control designing of mechatronic systems.