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

Content Provider	Springer Nature Link
Author	Procházka, F. Valášek, M. Šika, Z.
Copyright Year	2015
Abstract	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.”
Starting Page	221
Ending Page	236
Page Count	16
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	36
Issue Number	3
e-ISSN	1573272X
Language	English
Publisher	Springer Netherlands
Publisher Date	2015-11-05
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Parallel kinematics Fiber-driven mechanism Redundant actuation Sliding mode control Antibacklash control Model uncertainties Vibration, Dynamical Systems, Control Optimization Electrical Engineering Mechanical Engineering Automotive Engineering
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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