A Novel Sliding Mode Control Base on Synchronization Error for Parallel Robot

Guo Qin Gao; Wei Wang; Xue Mei Niu; Hai Yan Zhou

doi:10.4028/www.scientific.net/AMR.468-471.758

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 468-471A Novel Sliding Mode Control Base on...

A Novel Sliding Mode Control Base on Synchronization Error for Parallel Robot

Abstract:

Relative to serial robot, parallel robot gets more and more attention of scholars because of its many advantages. However, there are some problems in the current research such as the chains’ coordination and coupling control, which has became one of the key problems in the motion control of parallel robot. To further enhance the motion control performances, a novel sliding mode control method base on synchronization error is proposed in this paper. The simulation and experiment results show that the designed control system has good tracking performance, small system error and strong robustness, which can satisfy the high-precision requirements of the parallel robot control.

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Periodical:

Advanced Materials Research (Volumes 468-471)

Pages:

758-766

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.468-471.758

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Online since:

February 2012

Authors:

Guo Qin Gao, Wei Wang, Xue Mei Niu, Hai Yan Zhou

Keywords:

Coupling, Parallel Robot, Robustness, Sliding Mode, Synchronization Error

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