Sliding Mode Control for Parallel Robots Driven by Electric Motors in Task Space

Hoang, Nguyen Quang; Vuong, Vu Duc

doi:10.15625/1813-9663/33/4/10339

Cited by 6 publications

(6 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The parameters of the robot are given as follows [48,49]. The edge length of the base is L 0 = 1.2 m. Mass and length of the legs are: l i,1 = 0.581 m, m i,1 = 2.072 kg, J C1 = 0.13 kg.m 2 , l i,2 = 0.620 m, m i,2 = 0.750 kg.…”

Section: Simulation Resultsmentioning

confidence: 99%

Dynamic modelling and singularity-free simulation of closed loop multibody system driven by electric motors

et al. 2023

Self Cite

View full text Add to dashboard Cite

This paper presents the dynamic model and singularity-free simulation of electromechanical systems including closed loop multibody systems, massless gear transmission and electric motors. The dynamic model of these systems is established in matrix form and written in a Differential-Algebraic Equations form by applying the Lagrangian equation with multipliers and substructure method. Moreover, this paper deals with two difficult issues in the simulation of closed-loop multibody systems which are to overcome smoothly the singular configurations and to stabilize the constrained equations due to accumulated errors. The singularity-free simulation is solved by using null-space of Jacobian matrix to eliminate the constraint forces – Lagrangian multipliers in equations of motion. The drift in the constraint equation during simulation is restricted by a combination of Baumgarte’s stabilization and post-adjusting technique. Some numerical experiments are carried out to the planar 3RRR parallel manipulator driven by electric motors. Simulation results confirm the effectiveness of the proposed approach in overcoming the singular configurations and in stabilization of the constraint.

show abstract

Section: Simulation Resultsmentioning

confidence: 99%

Dynamic modelling and singularity-free simulation of closed loop multibody system driven by electric motors

et al. 2023

Self Cite

View full text Add to dashboard Cite

show abstract

“…s C q q -Coriolis and centrifugal matrix is calculated by Christoffel symbol [4,7] or using Kronecker product [21] constants, and r -the ratio of the gearbox. The details of the equations of motion are presented in the articles [11,12,19].…”

Section: Dynamic Model Of Parallel Robot Driven By Electric Motorsmentioning

confidence: 99%

“…Similar to serial robots, there are several control laws designed for parallel robots [11][12][13][14][15][16][17] such as: proportional-derivative controller (PD) plus gravity compensation, exact linearization, sliding mode control, adaptive control, fuzzy control, neural networks based control, etc. These controllers often require the feedback of all generalized coordinates and their derivatives.…”

Section: Introductionmentioning

confidence: 99%

Controller Design Based on a Kinematic Estimator for a 3rrr Planar Parallel Robot Driven by Electric Motors

Hoang

2020

JST

Self Cite

View full text Add to dashboard Cite

The control of parallel robotic manipulator requires feedbacks of all the redundant coordinates and their derivatives. In practice, to have all feedback variables for the controller, a robot needs more sensors than its degree of freedom. These sensors measure not only the actuated joint variables, but also the auxiliary variables, position and velocity of the moving platform. In this paper, a novel method is introduced to estimate dependently generalized coordinates and motion of the moving platform. A kinematic error feedback technique is exploited to ensure the estimated motion converge to the actual motion of the robot.

show abstract

“…constants, and r -the ratio of the gearbox. The details of the equations of motion are presented in the articles [11,12,19].…”

Section: )mentioning

confidence: 99%

Controller Design Based on a Kinematic Estimator for a 3rrr Planar Parallel Robot Driven by Electric Motors

Hoang¹

2020

JST

Self Cite

View full text Add to dashboard Cite

show abstract

Sliding Mode Control for Parallel Robots Driven by Electric Motors in Task Space

Cited by 6 publications

References 7 publications

Dynamic modelling and singularity-free simulation of closed loop multibody system driven by electric motors

Dynamic modelling and singularity-free simulation of closed loop multibody system driven by electric motors

Controller Design Based on a Kinematic Estimator for a 3rrr Planar Parallel Robot Driven by Electric Motors

Controller Design Based on a Kinematic Estimator for a 3rrr Planar Parallel Robot Driven by Electric Motors

Contact Info

Product

Resources

About