Modeling, Simulation and Robust Control of a Parallel Robot Electro- Pneumatic Gough- Stewart (6dof)

Yıl 2015, Cilt: 36 Sayı: 3, 55 - 68, 13.05.2015

Hamed Sanaei , Payam Dalaliyan Miandoab Amir Rikhtehgar Giasi

Öz

Abstract. In this paper, modeling, simulation, and control of a six-degree of freedom Gough- Stewart robust parallel robot driven by pneumatic drivers are discussed. The robot modeling is performed based on the classical Lagrangian approach and a comprehensive dynamic model by taking into account the dynamics of the system in addition to the driving rigid dynamics are presented. Robust control strategy and Sliding mode control were used in order to control the robot. In this approach, the feedback control law presented such that the closed loop system defined by the SMC is robust against uncertainties and external disturbances. To demonstrate the appropriateness of the designed controller, its performance was compared with a feedback linearization controller and finally the computer simulation using MATLAB/Simulink validated the optimal performance of the designed controller.

Anahtar Kelimeler

Parallel Robot, Gough- Stewart Platform, Lagrangian Dynamic, Feedback Linearization, Sliding Mode Control

Kaynakça

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