Browsing by Subject Parallel robot
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Since parallel robots are the multibody systems with closed-loop structures, their movement equations usually are in the complex form of redundant coordinates and their dynamics parameters are usually uncertain. The aim of this paper is to improve the control quality for the parallel robot by applying RBF neutron network. Firstly, the movement equations of Rostock Delta robot are established as differential–algebraic systems of equations with redundant generalized coordinates. Then, the stableness of the control method based on sliding mode control law using neural network is proved. Finally, the error in tracking control of a specific Rostock Delta robot is simulated by using this me... |
Parallel robots are being applied popular in industry. They usually have many closed-loop kinematic structures, therefore their movement equations have the form of redundant coordinates and are complex. In most cases, parameters of dynamic model of the parallel robots required to be known exactly for control problem using the control laws such as PD, PID, CTC. This study is going to see in which the conditions of the Rostock Delta parallel robot should be used well with the PD control law. The movement equations of Rostock Delta robot in the form of differential equation system with redundant generalized coordinates is used to establish the PD control law. The stableness of the contro... |
This study aims at improving the control quality of parallel robot, where Rostock Delta robot is the main object. This study proves stability of the sliding mode control method when the dynamic parameters of Rostock Delta robot are uncertain. Numerical simulation is then performed for trajectory tracking problem of Rostock Delta robot using sliding mode control method, where the dynamic parameters are assumed in case to be precise and in case to be uncertain. The obtained results show agreement with the established theory. |
