Ahlem Saidi, Neila Mezghani Ben Romdhane, Mohamed Boukattaya, Tarak Damak
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引用次数: 0
Abstract
This paper presents a nonsingular fast terminal sliding mode control for the PAR 4 parallel robot, focusing on workspace optimization and trajectory planning. First, an analytical inverse kinematic model is derived to calculate the workspace, which is then extended using parameter optimization techniques. Next, a trajectory planning method based on the S-curve approach is proposed to generate the desired path, with special attention to reducing the cycle time of pick-and-place operations using sequential quadratic programming method. Finally, a nonsingular fast terminal sliding mode control strategy is suggested to enable the robot to accurately track the generated trajectory. The stability of the closed-loop system is analyzed using Lyapunov theory, and the effectiveness of the controller is validated through simulation results.
期刊介绍：
Papers that do not include an element of robust or nonlinear control and estimation theory will not be considered by the journal, and all papers will be expected to include significant novel content. The focus of the journal is on model based control design approaches rather than heuristic or rule based methods. Papers on neural networks will have to be of exceptional novelty to be considered for the journal.
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