Title :
Robust control for parallel robotic platforms
Author :
Buzurovic, I.M. ; Debeljkovic, D. Lj
Author_Institution :
Med. Phys. Div., Thomas Jefferson Univ., Philadelphia, PA, USA
Abstract :
Recent demands in robotics accelerated the growth of high precision technology using parallel mechanisms in various industrial applications. Maintaining the desired dynamic behavior of systems in the face of perturbations and other uncertainties has become the ultimate goal in stability of robotic systems. In this article the robust control for parallel robotic platforms has been presented. The proposed control methodology was compared with a widely used proportional-integral-derivative (PID) approach. The extensive computer simulations of the parallel robotic platform for both robust control and PID control have been presented.
Keywords :
robot dynamics; robust control; three-term control; PID control; dynamic behavior; high precision technology; industrial applications; parallel mechanisms; parallel robotic platforms; perturbations; proportional-integral-derivative control; robotic systems; robust control; stability; Equations; Legged locomotion; Mathematical model; Robot kinematics; Robust control; Robustness;
Conference_Titel :
Intelligent Engineering Systems (INES), 2012 IEEE 16th International Conference on
Conference_Location :
Lisbon
Print_ISBN :
978-1-4673-2694-0
Electronic_ISBN :
978-1-4673-2693-3
DOI :
10.1109/INES.2012.6249877
