Robust Control of the C5 Parallel Robot
نویسندگان
چکیده
This paper deals with the dynamic control of a parallel robot with C5 joints. Computed torque control and robust control have been studied and implemented. For this purpose, we have used the inverse dynamic model whose parameters have been experimentally identified. The closed loop stability has been studied using the Lyapunov principle. The addition of a robustness term based on sliding mode technique ensures good tracking performances. The experimental results show the effectiveness of the robust control.
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