一种新型六自由度旋转并联机械臂的滑模控制

2011 16th International Conference on Methods & Models in Automation & Robotics Pub Date : 2011-09-29 DOI:10.1109/MMAR.2011.6031348

M. Jafarinasab, M. Keshmiri, H. Azizan, M. Danesh

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引用次数: 5

摘要

介绍了一种新型六自由度并联机器人。讨论了运动学分析，并利用拉格朗日方程对约束系统进行了全动力学建模。滑模控制是一类非常特殊的非线性控制，用于存在参数不确定性的机械臂的位置控制。通过李雅普诺夫方法保证了系统的稳定性。一系列密集的仿真研究表明，即使在大参数变化的情况下，所提出的控制器也能进行轨迹跟踪。

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Sliding mode control of a novel 6-DOF parallel manipulator with rotary actuators

A novel six-DOF parallel manipulator is introduced. Kinematics analysis is discussed and using Lagrange equations for constrained systems the full dynamic modeling is performed. Sliding mode control as a class of very special nonlinear control is proposed to control the position of the manipulator in the presence of parametric uncertainties. Stability of the system is guaranteed via Lyapunov approach. An intensive series of simulation studies has been fulfilled to show the abilities of the proposed controller for trajectory tracking even in the case of large parameter variations.

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2011 16th International Conference on Methods & Models in Automation & Robotics

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