Dynamic Sliding Mode Control of Parallel Robot Based on AC Servo-Motor Drive-Reference-Cited by-同舟云学术

Dynamic Sliding Mode Control of Parallel Robot Based on AC Servo-Motor Drive

Published:2014-03 Issue: Volume:904 Page:357-360
ISSN:1662-8985
Container-title:Advanced Materials Research
language:
Short-container-title:AMR

Author:

Zhu Cai Hong¹,Sun Hong¹

Affiliation:

1. Suzhou Vocational University

Abstract

Parallel robot possesses the characteristics of large rigidity, strong load bearing capacity and small error. Directed against the parallel robot mechanism with AC servo-motor driveparallel mechanism, a model of controlling system was established, and a track planning in its working space has been carried out. After that a kind of dynamic sliding mode control algorithm was designed, and a simulative experiment was made on the Matlab/Simulink. The result shows that this algorithm is good in the system, and achieved high precision real-time control on this parallel robot.

Publisher

Trans Tech Publications, Ltd.

Subject

General Engineering

Link

https://www.scientific.net/AMR.904.357.pdf

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