Robust Adaptive Control of A HexaSlide Type Parallel Manipulator
نویسندگان
چکیده
This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators . The HexaSlide type parallel manipulators are characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. The proposed control law is developed based on a simplified second order system dynamic equation in joint space with uncertain mass, damper, spring, and Coulomb friction terms . These uncertain parameters are updated by an adaptation law that is derived by Lyapunov stability theorem. A robust adaptive control law by using the boundary layer is designed for the purpose of compensating for the neglected dynamic effects of the mobile platform and the six moving links that are modeled as a disturbance term. Experimental results show good and fast tracking performance.
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