Trajectory planning and motion control schemes for 2DoF planar parallel manipulator Biglide type with elastic joints: A comparative study

• Autorzy: Litim EL Mostafa , Elawady Iman , Belmokhtar Samira , Senouci Mohamed , Omari Abdelhafid

Identyfikatory

DOI

10.15199/48.2021.08.16

Warianty tytułu

PL

Schematy planowania trajektorii i sterowania ruchem dla planarnego manipulatora równoległego 2DoF typu Biglide z elastycznymi przegubami

• Języki publikacji: EN

Abstrakty

EN

This research paper develops a nonlinear backstepping sliding mode design scheme for the motion control of two-degree of freedom planar parallel robot. The main objective of this paper is to gain a strong control in trajectory tracking case. However, dynamical equations of motion for a 2DoF parallel manipulator, including structured and unstructured uncertainties, are taken into account. Furthermore, the hybrid control strategy is based on backstepping scheme and on a switching function is that are presented for high accuracy of a mixed space tracking trajectory of robot. Also, the application of control technique in presence of parameter uncertainties in a massive change is studied. In addition, the benefit of this method is that it imposes the intended stability properties by first fixing the Lyapunov candidate functions and then calculating the other functions in a recursive way. Therefore, simulation outcomes are shown so as to assess the tracking performance and to evaluate the total stability of the closed-loop system. Finally, the results accomplished in simulation show the efficiency of the controller proposed for a parallel robot with two degrees of freedom Biglide type with elastic joints.

PL

W artykule opracowano nieliniowy tryb ślizgowy backstepping do sterowania ruchem równoległego robota planarnego 2DoF z elastycznymi przegubami. Badane jest zastosowanie techniki sterowania w obecności niepewności parametrów przy masywnej zmianie. Zaletą proponowanej metody jest to, że narzuca ona zamierzone właściwości stabilności poprzez wcześniejsze ustalenie unkcji Lyapunova. Wyniki uzyskane w symulacji wskazują na skuteczność proponowanego regulatora.

Słowa kluczowe

EN

parallel robot; nonlinear control; trajectory tracking; flexible robot manipulator

PL

robot równoległy; sterowanie nieliniowe; śledzenie trajektorii; elastyczne manipulatory robotyczne

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2021
• Tom: R. 97, nr 8
• Strony: 88--95
• Opis fizyczny: Bibliogr. 40 poz., rys., tab.

Twórcy

autor

Litim EL Mostafa

• Department of Electrical Engineering, National polytechnic school of Oran, Algeria (ENPO)

• https://orcid.org/0000-0002-4886-9800

autor

Elawady Iman

• Department of Electrical Engineering, National polytechnic school of Oran, Algeria (ENPO)
• Tahri Mohammed, University Bechar, Algeria

autor

Belmokhtar Samira

• Department of Electrical Engineering, National polytechnic school of Oran, Algeria (ENPO)

autor

Senouci Mohamed

• University of Oran, Algeria

autor

Omari Abdelhafid

• University of Science and Technology of Oran Mohamed-Boudiaf, Oran, Algeria

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).