Dynamic Sliding Mode Control of Parallel Robot Based on AC Servo-Motor Drive

Cai Hong Zhu; Hong Sun

doi:10.4028/www.scientific.net/AMR.904.357

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 904Dynamic Sliding Mode Control of Parallel Robot...

Dynamic Sliding Mode Control of Parallel Robot Based on AC Servo-Motor Drive

Abstract:

Parallel robot possesses the characteristics of large rigidity, strong load bearing capacity and small error. Directed against the parallel robot mechanism with AC servo-motor driveparallel mechanism, a model of controlling system was established, and a track planning in its working space has been carried out. After that a kind of dynamic sliding mode control algorithm was designed, and a simulative experiment was made on the Matlab/Simulink. The result shows that this algorithm is good in the system, and achieved high precision real-time control on this parallel robot.

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Periodical:

Advanced Materials Research (Volume 904)

Pages:

357-360

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.904.357

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Online since:

March 2014

Authors:

Cai Hong Zhu*, Hong Sun

Keywords:

AC Servo Motor, Parallel Robot, Sliding Mode Control

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* - Corresponding Author

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