Robust sliding mode control of redundantly actuated parallel mechanisms with respect to geometric imperfections

DOI10.1007/S11044-015-9481-8MaRDI QIDQ2629331zbMATH OpenOpenAlexFDO

Authors F. Procházka, Michael Valášek, Zbyněk Šika

Publication date 6 July 2016

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-015-9481-8

zbMATH Keywords

sliding mode controlmodel uncertaintiesparallel kinematicsredundant actuationantibacklash controlfiber-driven mechanism

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Variable structure systems (93B12)

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Cites work

• scientific article; zbMATH DE number 53595 (Why is no real title available?)
• A chattering-free sliding mode control design for uncertain chaotic systems
• Evaluation of dynamic capabilities of machines and robots
• Generation and application of prestress in redundantly full-actuated parallel manipulators
• Identification and classification of the singular configurations of mechanisms.
• Satellite attitude control via sliding mode with perturbation estimation
• Sliding mode control of a class of underactuated systems
• Study of the antagonistic stiffness of parallel manipulators with actuation redundancy

Cited in

(6)

• Design-by-Optimization and control of redundantly actuated parallel kinematics sliding star
• Tip-trajectory tracking control of a deployable cable-driven robot via output redefinition
• Sliding mode control of cable-driven redundancy parallel robot with 6 DOF based on cable-length sensor feedback
• Redundant parallel kinematic structures and their control
• Problems in the control of redundantly actuated parallel manipulators caused by geometric imperfections
• scientific article; zbMATH DE number 7233839 (Why is no real title available?)

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