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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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Main Authors: Vu, Le Huy, Nguyen, Dinh Dung
Format: Bài trích
Language:English
Published: Springer 2022
Subjects:
Parallel robot
Sliding mode control
Online Access: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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spelling oai:localhost:PNK-59402022-08-17T05:54:48Z Tracking Control of Rostock Delta Parallel Robot with Uncertainty Dynamic Parameters by Using Sliding Mode Control Method Vu, Le Huy Nguyen, Dinh Dung Parallel robot Sliding mode control 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. 2022-07-13T02:00:01Z 2022-07-13T02:00:01Z 2022 Bài trích 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 en Springer
institution Digital Phenikaa
collection Digital Phenikaa
language English
topic Parallel robot
Sliding mode control
spellingShingle Parallel robot
Sliding mode control
Vu, Le Huy
Nguyen, Dinh Dung
Tracking Control of Rostock Delta Parallel Robot with Uncertainty Dynamic Parameters by Using Sliding Mode Control Method
description 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.
format Bài trích
author Vu, Le Huy
Nguyen, Dinh Dung
author_facet Vu, Le Huy
Nguyen, Dinh Dung
author_sort Vu, Le Huy
title Tracking Control of Rostock Delta Parallel Robot with Uncertainty Dynamic Parameters by Using Sliding Mode Control Method
title_short Tracking Control of Rostock Delta Parallel Robot with Uncertainty Dynamic Parameters by Using Sliding Mode Control Method
title_full Tracking Control of Rostock Delta Parallel Robot with Uncertainty Dynamic Parameters by Using Sliding Mode Control Method
title_fullStr Tracking Control of Rostock Delta Parallel Robot with Uncertainty Dynamic Parameters by Using Sliding Mode Control Method
title_full_unstemmed Tracking Control of Rostock Delta Parallel Robot with Uncertainty Dynamic Parameters by Using Sliding Mode Control Method
title_sort tracking control of rostock delta parallel robot with uncertainty dynamic parameters by using sliding mode control method
publisher Springer
publishDate 2022
url 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
_version_ 1751856289644806144
score 8.881002

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