Title :
Modeling and control for a 6-DOF platform manipulator
Author :
Jouini, Mouna ; Sassi, M. ; Amara, Neji ; Sellami, Anis
Author_Institution :
TTSTT, Univ. of Tunis, Tunis, Tunisia
Abstract :
This paper deals with the modeling and the control of a parallel robot with six degree of freedom (dof). The mathematical model of the 6-DOF parallel manipulator includes dynamics model which is on the Lagrange method. The model is built in generalized coordinate system. The kinematics model is based on the closed-form solutions. The latter has six electric actuators at six legs. The model-based controller is presented with feedback of platform positions. Two control laws of the actuators positions of the robot are proposed: PID control and Sliding Mode Control (SMC). Simulation results are given to show the comparison performance in term of robustness.
Keywords :
electric actuators; feedback; manipulator dynamics; manipulator kinematics; three-term control; variable structure systems; 6-DOF parallel manipulator; 6-DOF platform manipulator control; 6-DOF platform manipulator modelling; Lagrange method; PID control; SMC; closed-form solutions; dynamics model; electric actuators; generalized coordinate system; kinematics model; mathematical model; model-based controller; parallel robot; platform position feedback; six degree of freedom; sliding mode control; Actuators; Kinematics; Manipulator dynamics; Robot kinematics; Sliding mode control; Model dynamics; Model kinematics; PID control; Parallel manipulator; Platform; Sliding mode control;
Conference_Titel :
Electrical Engineering and Software Applications (ICEESA), 2013 International Conference on
Conference_Location :
Hammamet
Print_ISBN :
978-1-4673-6302-0
DOI :
10.1109/ICEESA.2013.6578432
