A comparative study of two model-based control techniques for the industrial manipulator

作者：Dumlu Ahmet^*; Erenturk Koksal; Kaleli Aliriza; Ayten Kagan Koray

来源：Robotica, 2017, 35(10): 2036-2055.

DOI：10.1017/S0263574716000709

• Parallel manipulator
• kinematics analysis
• dynamics analysis
• hybrid stepper motor
• linear quadratic optimal regulator control
• sliding mode control

In this paper, design, analysis and real-time trajectory tracking control of a 6-degree of freedom revolute spherical-spherical type parallel manipulator, actuated by six hybrid stepper motors, has been studied. Two different control approaches have been used to improve the trajectory tracking performance of the designed manipulator. The first approach considered a single input-single output (SISO) linear quadratic regulator (LQR) for trajectory tracking control of the manipulator. Another controller type based on a nonlinear sliding mode controller method has been utilized to take decoupled dynamic approximation model of the manipulator into account and to improve tracking performance of the manipulator. Real-time experimental results for the two different control techniques have been verified. Finally, according to the results, the nonlinear sliding mode controller method has improved the tracking performance of the designed manipulator.

• 出版日期2017-10