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

Author

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

Author_Institution

Mech. Eng. Dept., Isfahan Univ. of Technol., Isfahan, Iran

fYear

2011

fDate

22-25 Aug. 2011

Firstpage

218

Lastpage

223

Abstract

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.

Keywords

Lyapunov methods; actuators; dexterous manipulators; manipulator kinematics; nonlinear control systems; position control; stability; variable structure systems; DOF; Lagrange equations; Lyapunov approach; dynamic modeling; manipulator kinematics; nonlinear control; parallel manipulator; parametric uncertainties; position control; rotary actuators; sliding mode control; stability; trajectory tracking; Equations; Kinematics; Manipulator dynamics; Mathematical model; Tracking; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2011 16th International Conference on

Conference_Location

Miedzyzdroje

Print_ISBN

978-1-4577-0912-8

Type

conf

DOI

10.1109/MMAR.2011.6031348

Filename

6031348