Sliding-mode tracking control of the 6-dof 3-legged wide-open parallel robot

Mohammad H. Abedinnasab; Jaime Gallardo-Alvarado; Bahram Tarvirdizadeh; Farzam Farahmand; Farzam Farahmand

Sliding-mode tracking control of the 6-dof 3-legged wide-open parallel robot

Mohammad H. Abedinnasab
, Jaime Gallardo-Alvarado
, Bahram Tarvirdizadeh
, Farzam Farahmand
, Farzam Farahmand

Biomedical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Chapter

6 Scopus citations

Abstract

In this chapter, we analyze and robustly control the 6-DOF 3-legged Wide-Open parallel manipulator, using a Lyapunov analysis approach. The mechanism is evaluated in terms of kinematics, workspace, and dynamics. By implementing the dynamic model, tracking control of the moving platform is performed using the nonlinear sliding-mode control method. The numerical simulationswith desired trajectory inputs attest to the excellent performance and robustness of the designed position tracking sliding-mode controller, in presence of fast varying uncertain parameters and external disturbances, which are common in parallel manipulators.

Original language	English (US)
Title of host publication	Parallel Manipulators
Subtitle of host publication	Design, Applications and Dynamic Analysis
Publisher	Nova Science Publishers, Inc.
Pages	143-166
Number of pages	24
ISBN (Electronic)	9781634859530
ISBN (Print)	9781634859264
State	Published - Jan 1 2016

All Science Journal Classification (ASJC) codes

General Engineering
General Computer Science

Cite this

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title = "Sliding-mode tracking control of the 6-dof 3-legged wide-open parallel robot",

abstract = "In this chapter, we analyze and robustly control the 6-DOF 3-legged Wide-Open parallel manipulator, using a Lyapunov analysis approach. The mechanism is evaluated in terms of kinematics, workspace, and dynamics. By implementing the dynamic model, tracking control of the moving platform is performed using the nonlinear sliding-mode control method. The numerical simulationswith desired trajectory inputs attest to the excellent performance and robustness of the designed position tracking sliding-mode controller, in presence of fast varying uncertain parameters and external disturbances, which are common in parallel manipulators.",

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T1 - Sliding-mode tracking control of the 6-dof 3-legged wide-open parallel robot

AU - Abedinnasab, Mohammad H.

AU - Gallardo-Alvarado, Jaime

AU - Tarvirdizadeh, Bahram

AU - Farahmand, Farzam

PY - 2016/1/1

Y1 - 2016/1/1

N2 - In this chapter, we analyze and robustly control the 6-DOF 3-legged Wide-Open parallel manipulator, using a Lyapunov analysis approach. The mechanism is evaluated in terms of kinematics, workspace, and dynamics. By implementing the dynamic model, tracking control of the moving platform is performed using the nonlinear sliding-mode control method. The numerical simulationswith desired trajectory inputs attest to the excellent performance and robustness of the designed position tracking sliding-mode controller, in presence of fast varying uncertain parameters and external disturbances, which are common in parallel manipulators.

AB - In this chapter, we analyze and robustly control the 6-DOF 3-legged Wide-Open parallel manipulator, using a Lyapunov analysis approach. The mechanism is evaluated in terms of kinematics, workspace, and dynamics. By implementing the dynamic model, tracking control of the moving platform is performed using the nonlinear sliding-mode control method. The numerical simulationswith desired trajectory inputs attest to the excellent performance and robustness of the designed position tracking sliding-mode controller, in presence of fast varying uncertain parameters and external disturbances, which are common in parallel manipulators.

UR - https://www.scopus.com/pages/publications/85031024079

UR - https://www.scopus.com/pages/publications/85031024079#tab=citedBy

M3 - Chapter

AN - SCOPUS:85031024079

SN - 9781634859264

SP - 143

EP - 166

BT - Parallel Manipulators

PB - Nova Science Publishers, Inc.

ER -

Sliding-mode tracking control of the 6-dof 3-legged wide-open parallel robot

Abstract

All Science Journal Classification (ASJC) codes

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