Title :
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
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;
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
DOI :
10.1109/DCABES.2011.39
