Abstract
Many works in the literature have studied the kinematical and dynamical issues of parallel robots. But it is still difficult to extend the vast control strategies to parallel mechanisms due to the complexity of the model-based control. This complexity is mainly caused by the presence of multiple closed kinematic chains, making the system naturally described by a set of differential–algebraic equations. The aim of this work is to control a two-degree-of-freedom parallel manipulator. A mechanical model based on differential–algebraic equations is given. The goal is to use the structural characteristics of the mechanical system to reduce the complexity of the nonlinear model. Therefore, a trajectory tracking control is achieved using the Takagi-Sugeno fuzzy model derived from the differential–algebraic equation forms and its linear matrix inequality constraints formulation. Simulation results show that the proposed approach based on differential–algebraic equations and Takagi-Sugeno fuzzy modeling leads to a better robustness against the structural uncertainties.
Highlights
In modern societies, manipulators have become a key tool in industry due to their great versatility in repetitive task
Parallel robots are generally characterized by their nonanthropomorphic shape, they are composed of an end effector connected to a base by at least two separate and independent kinematic chain.[8]
The aim of this work is to deal with the parallel robot on its differential–algebraic equations (DAEs) form, the difficulty here is that the DAE forms are not expressed explicitly in state–space representation.[44]
Summary
Manipulators have become a key tool in industry due to their great versatility in repetitive task. The mechanical architectures traditionally used in automated production line are based on serial robots These robots are made of a sequence of rigid links serially assembled through revolute and/or prismatic active joints.[1] In other words, the end effector is connected to the base via a single open-loop kinematic chain which gives them a large work space and high dexterity.[2] Despite these advantages, serial robot suffer from high inertia due to the position of actuators, which are located on the moving part, they suffer from a low payload to weight ratio and a low precision due to the cumulative joint errors and link deflection. This multiple kinematic chain provides a high rigidity and agility with a high payload to weight ratio due to the deportation
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