A New TSMC Prototype Robust Nonlinear Task Space Control of a 6 DOF Parallel Robotic Manipulator

作者：Zhao, Dongya^*; Li, Shaoyuan; Zhu, Quanmin

来源：International Journal of Control Automation and Systems, 2010, 8(6): 1189-1197.

DOI：10.1007/s12555-010-0604-y

• Lyapunov redesign
• parallel robot
• robot control
• terminal sliding mode control

In this study, a new terminal sliding mode control (TSMC) prototype robust nonlinear task space control approach is developed for 6 degree of freedom (DOF) parallel robotic manipulators in light of TSMC principle integrated with Lyapunov redesign method Corresponding stability analysis is presented to lay a foundation for analytical understanding in generic theoretical aspects and safe operation for real systems An illustrative example of a 6 DOF parallel robot is bench tested to validate the effectiveness of the proposed approach

• 出版日期2010-12
• 单位中国石油大学（北京）; 上海交通大学