Sliding Mode Variable Structure Control of a Redundantly Actuated Parallel Robot

被引：3

作者：

Li, Y. ^{[1
]}

Wang, Y. ^{[1
]}

机构：

[1] Shandong Univ, Minist Educ, Key Lab High Efficiency & Clean Mech Manufacture, Jinan 250100, Shandong, Peoples R China

来源：

ADVANCES IN MATERIALS MANUFACTURING SCIENCE AND TECHNOLOGY XIII, VOL 1: ADVANCED MANUFACTURING TECHNOLOGY AND EQUIPMENT, AND MANUFACTURING SYSTEMS AND AUTOMATION | 2009年 / 626-627卷

关键词：

Redundantly actuate; Parallel robots; Sliding mode control;

D O I：

10.4028/www.scientific.net/MSF.626-627.465

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Redundant actuation has good performance in eliminating singularities and optimizing force distribution, a 2-DOF redundantly actuated parallel robot is taken as the object of study The dynamic model of the parallel robot is derived. Because the parallel robot is an uncertain nonlinear system, the sliding mode variable structure controller is designed considering its fast response and robustness. Then the stability of the proposed controller is analyzed. The saturation function is used instead of the sign function to eliminate the chattering of the sliding mode control The simulation results show that the torque of each servo motor changes smoothly when using the quasi-sliding mode control. So the damage of the servo motors and robot arms is decreased The results of the trajectory tracking demonstrate the effectiveness of the quasi-sliding mode control

引用

页码：465 / 470

页数：6