Sliding mode control applied to a parallel scara robot

被引：0

作者：

Morales, Christian ^{[1
]}

Chavez, Danilo ^{[1
]}

Moya, Viviana ^{[1
]}

Camacho, Oscar ^{[2
]}

机构：

[1] Escuela Politec Nacl, Dept Automatizac & Control Ind, Quito, Ecuador

[2] Univ San Francisco, Colegio Ciencias & Ingn, Quito, Ecuador

来源：

CIENCIA E INGENIERIA | 2022年 / 43卷 / 03期

关键词：

Parallel Scara; SMC; Kinematic Model;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The parallel Scara robot is one of the most basic structures of parallel robotics; it is a planar parallel robot with two degrees of freedom corresponding to the translation of the final effector in a plane. This article develops a position controller by SMC (Sliding Mode Control) for a parallel Scara; through a simulation developed in Unity 3D, the robot's performance results are obtained when working in an industrial environment filling boxes with spheres.

引用

页码：239 / 244

页数：6

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