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首页> 外文会议>International Conference on Materials and Products Manufacturing Technology >Robust Adaptive Sliding Mode Synchronous Control for a Planar Redundantly Actuated Parallel Manipulator
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Robust Adaptive Sliding Mode Synchronous Control for a Planar Redundantly Actuated Parallel Manipulator

机译：鲁棒自适应滑模同步控制平面冗余致电并行机械手

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摘要

To obtain better trajectory tracking, a new synchronous control with sliding mode surface is proposed. Based on Kane equation, the dynamics model of a planar 2-DOF redundantly actuated parallel mechanism was formulated. With trajectory contour error, the synchronization error was defined and the sliding surface was determined. After dynamic equation linearization, a robust adaptive sliding mode synchronous controller was designed with stability analysis. After Matlab simulation, figures of tracking errors and synchronization errors changing with time compared with computed torque method were plotted. Results show that the robust adaptive sliding mode synchronous control can be able to achieve good trajectory tracking compared with computed torque controller.
机译：为了获得更好的轨迹跟踪，提出了一种具有滑动模式表面的新同步控制。基于Kane方程，制定了平面2-DOF的动力学模型冗余致动平行机构。通过轨迹轮廓误差，定义了同步误差并确定滑动表面。在动态方程线性化之后，设计了一种具有稳定性分析的强大自适应滑动模式同步控制器。绘制了Matlab仿真后，绘制了与计算扭矩方法相比随时间改变的跟踪误差和同步误差的图。结果表明，与计算的扭矩控制器相比，鲁棒自适应滑模同步控制可以实现良好的轨迹跟踪。

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