Dynamic Sliding Mode Control Applied in Parallel Robot System

Author

Caihong, Zhu ; Hongtao, Zhang

Author_Institution

Dept. of Electron. Inf. Eng., Suzhou Vocational Univ., Suzhou, China

fYear

2011

fDate

14-17 Oct. 2011

Firstpage

405

Lastpage

408

Abstract

Parallel robot has many good features, such as high rigidity, great load and high precision. Directed against the parallel robot mechanism with AC servo-motor drive, a model of controlling system was established. A kind of dynamic sliding mode control algorithm was designed, and the stability of this control algorithm was analyzed. A simulative experiment of trajectory tracking was made on the Matlab / Simulink. The simulation result was given to prove the validity of the variable structure controller, and a good performance in tracking, and the high-accuracy real time control of the parallel robot mechanism is implemented.

Keywords

AC motor drives; machine control; mobile robots; servomotors; trajectory control; variable structure systems; AC servo-motor drive; Matlab; Simulink; controlling system; dynamic sliding mode control algorithm; high-accuracy real time control; parallel robot mechanism; parallel robot system; trajectory tracking; variable structure controller; Mathematical model; Parallel robots; Service robots; Sliding mode control; Switches; parallel robot; servo motor; sliding mode control; trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Distributed Computing and Applications to Business, Engineering and Science (DCABES), 2011 Tenth International Symposium on

Conference_Location

Wuxi

Print_ISBN

978-1-4577-0327-0

Type

conf

DOI

10.1109/DCABES.2011.39

Filename

6118699