Abstract
The control of a parallel robotic manipulator with uncertain dynamics is a noteworthy challenge due to the complicated dynamic model; multi-closed-loop chains; and singularities. This study develops a Synchronization Full-Order Terminal Sliding Mode Control (S-FOTSMC) for a 3-DOF planar parallel robotic manipulator with uncertain dynamics. First, to achieve faster convergence of position error and synchronization error variables with minimum values at the same time, a Synchronization Full-Order Terminal Sliding Mode Surface (S-FOTSMS) is constructed in the cross-coupling error’s state space. Next; an integral of the switching control term is applied; that means, a continuous control term is extended for rejecting the effects of chattering. Finally, an SFOTSMC is designed to guarantee that sliding mode motion will occur. Consequently, the stability and the robustness of the proposed method are secured with high-performance irrespective of the influences of uncertain terms in the robot system. The simulation performances show the effectiveness of our proposed system for position tracking control of a 3-DOF planar parallel robotic manipulator.
Highlights
Robot manipulators have contributed endless roles in both the industrial automation systems and applied research fields
The main goal of our study is to propose a new S-FOTSMC for a 3-DOF planar parallel robotic manipulator with uncertain dynamics which has the following benefits: (1) inherits the advantages of the synchronization control and FOTSMC in terms of robustness, fast convergence of position and synchronization errors, singularity removal, and high tracking accuracy; (2) the accuracy in the trajectory tracking control was further improved; (3) all joints of the parallel robot are synchronously driven; (4) the control input system is smooth with minimum chattering
To synchronously achieve fast convergence of both the position error and synchronization error along with the robustness rejects the effects of the lumped uncertain terms, the S-FOTSMS is designed by using the cross-coupling error (Equation (9)) as follows:
Summary
Robot manipulators have contributed endless roles in both the industrial automation systems and applied research fields. Studies on parallel robots have attracted a lot of interest in the research community. This is because parallel manipulators have numerous highlighted benefits such as high speed, high stiffness, high-accuracy positioning, high payload capacity and low moving inertia. Parallel manipulators have widely applied in real applications, including precise manufacturing, medical science, humanoid robots, space exploration equipment, and automobile simulators [1]. Parallel robotic manipulators are saddled with a complicated dynamic model, singularities, and the forward kinematic problem. Many field-specific trials are needed to thoroughly handle these disadvantages of parallel robotic manipulators.
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