Study on Smooth Sliding Mode Control of Parallel Robot

Cai Hong Zhu; Hong Sun; Hong Tao Zhang

doi:10.4028/www.scientific.net/AMR.933.379

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 933Study on Smooth Sliding Mode Control of Parallel...

Study on Smooth Sliding Mode Control of Parallel Robot

Abstract:

Parallel robot possesses the characteristics of large rigidity, strong load bearing capacity and small error. Directed against the new-type parallel robot mechanism with step motor drive, the closed-formed solutions were developed for both inverse and direct kinematics, a track planning in its workspace has been carried out, and a model of control system was establish, after that a kind of sliding mode control algorithm was designed, and a simulative experiment was made on the Matlab/Simulink. It is shown that the parallel robot system using the proposed control algorithm does not have the chattering problem. The system has good robustness, and is robust to the uncertainties and disturbance, and has good performance in tracking, and high precision real-time control on this parallel robot is achieved.

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Periodical:

Advanced Materials Research (Volume 933)

Pages:

379-383

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.933.379

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Cite this paper

Online since:

May 2014

Authors:

Cai Hong Zhu*, Hong Sun, Hong Tao Zhang

Keywords:

Parallel Robot, Sliding Mode Control, Trajectory Tracking, Workspace Analysis

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* - Corresponding Author

References

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