شماره ركورد كنفرانس :
3908
عنوان مقاله :
Robust PD control of 6DOF redundant parallel manipulator in the presence of disturbance and friction
پديدآورندگان :
Madary Ahmad ahmad.madary@gmail.com Faculty of Electrical and Computer Engineering Tarbiat Modares University Tehran, Iran , Ebrahimi Asghar ebrahimi@mut.ac.ir Aerospace Complex University Malek Ashtar University of Technology Tehran, Iran
كليدواژه :
redundant parallel manipulator , friction effects , robust PD controller , second order sliding mode observer , disturbance rejection ,
عنوان كنفرانس :
دومين كنفرانس ملي رويكردهاي نو در مهندسي برق و كامپيوتر
چكيده فارسي :
In this paper, a robust PD controller is designed for a 6DOF redundant parallel manipulator, while friction effects are considered in the dynamic equations of manipulator. Instead of using angular velocity feedback, a second order sliding mode observer is used in order to design the controller. In the end, performance of manipulator in tracking a desired path is analyzed in the presence of disturbance and the disturbance rejection property of the proposed controller is verified
