Dynamic Sliding Mode Control Applied in Parallel Robot System
Parallel robot has many good features, such as high rigidity, great load and high precision. Directed against the parallel robot mechanism with AC servo-motor drive, a model of controlling system was established. A kind of dynamic sliding mode control algorithm was designed, and the stability of this control algorithm was analyzed. A simulative experiment of trajectory tracking was made on the Matlab / Simulink. The simulation result was given to prove the validity of the variable structure controller, and a good performance in tracking, and the high-accuracy real time control of the parallel robot mechanism is implemented.
parallel robot sliding mode control servo motor trajectory tracking
Zhu Caihong Zhang Hongtao
Department of Electronic Information EngineeringSuzhou Vocational UniversitySuzhou, China Department of Electronic Information Engineering Suzhou Vocational University Suzhou, China
国际会议
无锡
英文
405-408
2011-10-14（万方平台首次上网日期，不代表论文的发表时间）