Modeling and Control of 3-PRS parallel robot and simulation based on SimMechanics in MATLAB

Author

Fatehi, M.H. ; Vali, A.R. ; Eghtesad, M. ; Fatehi, A.A.

Author_Institution

Dept. of Electr. Eng., Islamic Azad Univ., Tehran, Iran

fYear

2011

fDate

27-29 Dec. 2011

Firstpage

785

Lastpage

790

Abstract

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.

Keywords

Newton method; control engineering computing; manipulator dynamics; variable structure systems; 3-PRS parallel robot; IDC controller; ISMC controller; MATLAB; Newton-Euler method; SimMechanics; complex dynamic equation; dynamic model; integral sliding mode control; inverse dynamic control; spatial 3-DOF; Automation; Instruments;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Instrumentation and Automation (ICCIA), 2011 2nd International Conference on

Conference_Location

Shiraz

Print_ISBN

978-1-4673-1689-7

Type

conf

DOI

10.1109/ICCIAutom.2011.6356760

Filename

6356760