TAILIEUCHUNG - Sliding mode control for a planar parallel robot driven by electric motors in a task space

This paper addresses the modeling of a planar parallel robot including electric motors. The dynamic model of the system is derived by applying the substructure method and Lagrangian equations with multipliers in the form of redundant generalized coordinates. These equations are then transformed to the form of minimal coordinates of operational variables. Based on this form, a sliding mode controller (SMC) is designed for trajectory tracking in a task space. | Journal of Computer Science and Cybernetics, , (2017), 325–337 DOI SLIDING MODE CONTROL FOR A PLANAR PARALLEL ROBOT DRIVEN BY ELECTRIC MOTORS IN A TASK SPACE NGUYEN QUANG HOANG1 , VU DUC VUONG1,2 1 School of Mechanical Engineering, Hanoi University of Science and Technology of Electronics Engineering, Thai Nguyen University of Technology 1 2 Faculty Abstract. This paper addresses the modeling of a planar parallel robot including electric motors. The dynamic model of the system is derived by applying the substructure method and Lagrangian equations with multipliers in the form of redundant generalized coordinates. These equations are then transformed to the form of minimal coordinates of operational variables. Based on this form, a sliding mode controller (SMC) is designed for trajectory tracking in a task space. Numerical simulations in MATLAB are carried out based on the 3RRR parallel robot in order to show the effectiveness of the proposal approach. The obtained results show a good behavior of the proposed task space tracking controller. Keywords. parallel robot, electromechanical system, dynamic modeling, sliding mode control. 1. INTRODUCTION Nowadays, parallel robotic manipulators are used widely in industrial applications due to their advantages such as high stiffness, accuracy, and light links. This kind of robots has attracted numerous researchers. Many of them deal with the modeling of parallel manipulators [4, 8]. In many work such as [1, 2] the parallel manipulators are modeled by a closed loop rigid multibody system driven directly by torques/forces. To establish the dynamic equations of a parallel robot, there are some approaches proposed in literature including Lagrangian formulation with multipliers, Newton-Euler equations, the principle of virtual work, the Jourdain principle, and Kane equation such as in [2, 3, 6-8, 13, 14]. In general, manipulators are driven by electric

• Cơ khí - Chế tạo máy
• Journal of Computer Science and Cybernetics
• Sliding mode control
• Sliding mode control for a planar parallel robot driven
• Electric motors in a task space
• The substructure method
• Nonstandard finite difference schemes
• Solving a modified epidemiological model for computer viruses
• Nonstandard finite difference
• Computer virus propagation model
• Multi objective evolutionary algorithms
• Evolutionary algorithms and foundation
• development and open issues
• EC enables computer scientists
• Evolutionary algorithms designed
• Learning interaction measure
• Relevance feedback in image retrieval
• Multi feature query
• The fuzzy density values
• Quality of transmission aware routing in ad hoc networks
• Cross layer model combined
• The static agent
• Ad hoc networks
• QoT aware routing
• sattic agent
• Algorithm to build fuzzy decision tree for data classification problem
• Fuzziness intervals matching
• Fuzzy decision tree
• The fuzzy data mining problem
• Hedges algebras and fuzzy partition problem for qualitative attributes
• Construct the membership functions
• Fuzzy Association Rules
• Member ship functions
• Characterizations for several classes of alternative codes
• Several classes of alternative codes
• norm alternative code
• Left norm alternative code
• Two sided alternative code
• Left alternative code
• Strict alternative code
• Packet classification algorithm
• Multi way priority trie
• Significant number of researchers
• Both theoretically and experimentally proved
• Solving min max capacitated vehicle routing problem by local search
• Solving min max capacitated vehicle routing problem
• Solving min max capacitated
• Proposed algorithms compared
• Novel control approach for optimal power flow
• Hybrid wind photovoltaic diesel generation systems
• Diesel generation systems
• Analytical control model
• Mobile ad hoc network
• Valid route testing mechanism
• Using Network Simulator
• Random movement network topology
• Rough set theory
• Polynomial time complexity
• Algorithm finding object reducts
• Improved genetic algorithm
• Test data generation for simulink models
• Conventional genetic algorithm
• Generate test data for Simulink models
• Nonholonomic wheeled mobile robot
• Wheeled mobile robot
• Function neural network
• Unknown external disturbances
• Modeling the differential motion of a mobile manipulator
• Designing a new visual servoing
• Tracking a flying target
• Reinforcement learning algorithm
• Efficient navigation framework
• Autonomous mobile robots
• The mobile robots
• Interpolation based on semantic distance weighting
• Hedge algebra and its application
• Semantic distance weighting
• Bi linear interpolation
• Linguistic rule base system
• Transform the current Web
• Conceptual data model
• Ti meER model
• The temporal databases into OWL ontology
• The ER model into ontology
• Greedy Randomized Adaptive Search Procedure
• Multiple Traveling Repairmen Problem with Distance Constraints
• Variable Neighborhood Descent
• Traveling Repairman Problem
• On the real world semantics interpretability
• Fuzzy rule based systems under fuzzy set approach
• Hedge algebra approach
• The RWS interpretability
• Alternating current electrical systems
• Integer quadratic programming
• Non linear knapsack problems arising
• Polynomial time approximation schemes
• Statistical implication rules
• Collaborative filtering recommender system
• Statistical implicative analysis
• The accuracy of recommender systems
• Picture fuzzy sets
• Picture fuzzy t norms
• Picture fuzzy t conorm
• De Morgan picture operator triple
• Taxonomic assignment for large scale metagenomic data
• High perfomance systems
• Large scale metagenomic data
• Achieve good performance