شماره ركورد كنفرانس :
3222
عنوان مقاله :
Modelling and Control of 3-PRS Parallel Robot and Simulation Based on SimMechanics in Matlab
پديدآورندگان :
Fatehi M.H Department of Electrical Engineering - Islamic Azad University tehran Science and Research Branch , Vali A.R Department of Electrical Engineering - Islamic Azad University Damavand Branch , Eghtesad M Department of Mechanical Engineering - Shiraz University , Fatehi Ali Akbar Department of Civil Engineering - Islamic Azad University Kerman Branch
كليدواژه :
SimMechanics , Matlab , Parallel Robot , Inverse Dynamic Control , Integral Sliding Mode Control
عنوان كنفرانس :
دومين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
This paper is addressed to obtain dynamic model of spatial 3-DOF( Degree of freedom) parallel robot and verify
the obtained model based on MATLAB with SimMechanics. The complex dynamic equations are derived via using
Newton-Euler method and under identical condition dynamic behaviors of derived model and SimMechanics model are
surveyed. In addition, According to derived model, IDC controller (Inverse Dynamic Control) and ISMC controller
(Integral Sliding Mode Control) are developed to achieve proper performance in dynamic behavior. Simulation results
show that the responses of the obtained dynamic model are fully consistent with SimMechanics model in MATLAB and
controllers are excellent in trend of control activities to achieve fine performance.
