Robust control for parallel robotic platforms

Author

Buzurovic, I.M. ; Debeljkovic, D. Lj

Author_Institution

Med. Phys. Div., Thomas Jefferson Univ., Philadelphia, PA, USA

fYear

2012

fDate

13-15 June 2012

Firstpage

45

Lastpage

50

Abstract

Recent demands in robotics accelerated the growth of high precision technology using parallel mechanisms in various industrial applications. Maintaining the desired dynamic behavior of systems in the face of perturbations and other uncertainties has become the ultimate goal in stability of robotic systems. In this article the robust control for parallel robotic platforms has been presented. The proposed control methodology was compared with a widely used proportional-integral-derivative (PID) approach. The extensive computer simulations of the parallel robotic platform for both robust control and PID control have been presented.

Keywords

robot dynamics; robust control; three-term control; PID control; dynamic behavior; high precision technology; industrial applications; parallel mechanisms; parallel robotic platforms; perturbations; proportional-integral-derivative control; robotic systems; robust control; stability; Equations; Legged locomotion; Mathematical model; Robot kinematics; Robust control; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Engineering Systems (INES), 2012 IEEE 16th International Conference on

Conference_Location

Lisbon

Print_ISBN

978-1-4673-2694-0

Electronic_ISBN

978-1-4673-2693-3

Type

conf

DOI

10.1109/INES.2012.6249877

Filename

6249877