Journal
CONTROL ENGINEERING PRACTICE
Volume 16, Issue 9, Pages 1055-1068Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2007.11.005
Keywords
hydraulic parallel robot manipulator; kinematics analysis; dynamics analysis; valve-controlled asymmetric piston; cascade control; sliding mode
Ask authors/readers for more resources
A cascade-control algorithm based on a sliding mode in the legspace is proposed to realize the trajectory tracking control of a hydraulically driven six degrees of freedom (6-DOF) parallel robot manipulator. The cascade controller, which consists of an inner loop and an outer loop, is applied to separate the hydraulic dynamics from the mechanical part so that the designed controller takes into account not only the mechanical dynamics but also the hydraulic dynamics of the manipulator. The experimental results investigate the effectiveness of the proposed approaches and demonstrate the satisfactory position tracking behaviour of the parallel manipulator for the proposed cascade controller based on a sliding mode. (C) 2007 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available