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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.”

Název v anglickém jazyce

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

Popis výsledku anglicky

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.”

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JR - Ostatní strojírenství

OECD FORD obor

—

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Multibody System Dynamics

ISSN

1384-5640

e-ISSN

—

Svazek periodika

36

Číslo periodika v rámci svazku

3

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

16

Strana od-do

221-236

Kód UT WoS článku

000371795800001

EID výsledku v databázi Scopus

2-s2.0-84959493783