Robust sliding mode control of redundantly actuated parallel mechanisms with respect to geometric imperfections

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F16%3A00240412" target="_blank" >RIV/68407700:21220/16:00240412 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/s11044-015-9481-8" target="_blank" >http://dx.doi.org/10.1007/s11044-015-9481-8</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s11044-015-9481-8" target="_blank" >10.1007/s11044-015-9481-8</a>

Result language
angličtina
Original language name
Robust sliding mode control of redundantly actuated parallel mechanisms with respect to geometric imperfections
Original language description
The paper deals with the modeling and control of redundantly actuated parallel mechanisms. The redundant actuation means the redundant number of actuators, that is, more actuators than degrees of freedom of the mechanism. These machines bring the possibility of removing the backlash by the so-called antibacklash control. However, control of such a structure suffers from several new control problems like the danger of mutual fighting of the redundant actuators. This is especially problematic if the geometric imperfections appear. The presented solution is based on the usage of robust sliding mode control for uncertain dynamics. The paper explains classic approach of sliding mode control and its new modification based on the uniform usage of all actuators replaced by the fictitious auxiliary drives. The verification of the proposed algorithms is presented by two planar mechanisms with four actuators and three degrees of freedom. The first one is the fiber-driven mechanism, and the second one is the rigid 4RRR mechanism “Crosshead.”
Czech name
—
Czech description
—

Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JR - Other machinery industry
OECD FORD branch
—

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Similar results(10)