Dynamic Sliding Mode Control of Parallel Robot Based on AC Servo-motor Drive
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 drive-parallel 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.
Caihong ZHU Hongtao ZHANG
Department of Electronic Engineering, Suzhou Vocational University, Jiangsu, China
国际会议
The 4th International Conference on Mechanical Engineering and Mechanics(第四届国际机械工程与力学会议)
苏州
英文
275-279
2011-08-11（万方平台首次上网日期，不代表论文的发表时间）