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

• Chin, J.H.and Suna, Y. H. and Chengb, Y.M. (2011), “Force Computation and Continuous Path Racking for Hydraulic Parallel Manipulators”, Department of Mechanical Engineering, National Chiao-Tung University, Hsinchu, 300, Taiwan, ROC
• Singh, k. and Dixon, R. and Pearson, J. (2012), “LQG Controller Design Applied to a Pneumatic Stewart-Gough Platform”, International Journal of Automation and Computing, 9 February, pp45-53.
• Sanaei, H. and dalaliyan, P. and Giasi, A. R. (2014), “Kinematic and Jocobian Analysis of a Stewart Mechanism with Pneumatic Actuators”, Proc of the 6th International Conf on Electrical Engineering, Gonabad, (in Persian).
• Sanaei, H. and Dalaliyan, P. and Giasi, A. R. (2014), “Dynamic Analysis of a Stewart Mechanism with Pneumatic Actuators”, Proc of the 1th International Conf on Electrical and Computer Engineering, Anzali, (in Persian).
• Sanaei, H. and Dalaliyan, P. and Giasi, A. R. (2014), “Sliding Mode Control Design for Stewart Mechanism”, Proc of the 6th International Conf on Electrical Engineering, Gonabad, (in Persian).
• Li, D. and Salcudean, S.E. (2000), “Modeling, Simulation, and Control of a Hydraulic Stewart Platform”, Department of Electrical Engineering, University of British Columbia Vancouver, BC, V6T 1Z4, Canada.
• Bai, X and Turner, J.D. and Junkins, J.L. (2006), “Dynamic Analysis and Control of a Stewart Platform Using A Novel Automatic Differentiation Method”, AIAA/AAS Astrodynamics Specialist Conference and Exhibit, Keystone, Colorado.
• Ioann, D. and Evangelos, P. (2007), “A Model-Based Impedance Control of a 6Dof Electrohydraulic Stewart Platform”, Proceedings of the European Control Conference, Kos, Greece, July 2-5.
• Sedigh, A. K. (2012), “Modern Control Systems”, 9 edition, published by the Institute of Tehran University, (in Persian).
• Slotine, J. J. and Lee, W. (1991), “Applied Nonlinear Control”, Prentice Hall.