{"title":"Sliding mode control of a novel 6-DOF parallel manipulator with rotary actuators","authors":"M. Jafarinasab, M. Keshmiri, H. Azizan, M. Danesh","doi":"10.1109/MMAR.2011.6031348","DOIUrl":null,"url":null,"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.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 16th International Conference on Methods & Models in Automation & Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MMAR.2011.6031348","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
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.
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