Tracking Control of Rostock Delta Parallel Robot with Uncertainty Dynamic Parameters by Using Sliding Mode Control Method
This study aims at improving the control quality of parallel robot, where Rostock Delta robot is the main object. This study proves stability of the sliding mode control method when the dynamic parameters of Rostock Delta robot are uncertain. Numerical simulation is then performed for trajectory tra...
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| Tác giả chính: | , |
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| Định dạng: | Bài trích |
| Ngôn ngữ: | English |
| Nhà xuất bản: |
Springer
2022
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| Chủ đề: | |
| Truy cập trực tuyến: | https://link.springer.com/chapter/10.1007/978-3-030-99666-6_136 https://dlib.phenikaa-uni.edu.vn/handle/PNK/5940 https://doi.org/10.1007/978-3-030-99666-6_136 |
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| Tóm tắt: | This study aims at improving the control quality of parallel robot, where Rostock Delta robot is the main object. This study proves stability of the sliding mode control method when the dynamic parameters of Rostock Delta robot are uncertain. Numerical simulation is then performed for trajectory tracking problem of Rostock Delta robot using sliding mode control method, where the dynamic parameters are assumed in case to be precise and in case to be uncertain. The obtained results show agreement with the established theory. |
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