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- Nguyen Dinh Dzung (1)
- Nguyen, Dinh Dung (1)
- Vu Le Huy (1)
- Vu, Le Huy (1)
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- Parallel robot (2)
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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 method. |
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. |
