M. Shahidi
Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran
[ 1 ] - 3-RPS Parallel Manipulator Dynamical Modelling and Control Based on SMC and FL Methods
In this paper, a dynamical model-based SMC (Sliding Mode Control) is proposed fortrajectory tracking of a 3-RPS (Revolute, Prismatic, Spherical) parallel manipulator. With ignoring smallinertial effects of all legs and joints compared with those of the end-effector of 3-RPS, the dynamical model ofthe manipulator is developed based on Lagrange method. By removing the unknown Lagrange multipliers...
نویسندگان همکار