Robust control for parallel robotic platforms

Abstract

Recent demands in robotics accelerated the growth of high precision technology using parallel mechanisms in various industrial applications. Maintaining the desired dynamic behavior of systems in the face of perturbations and other uncertainties has become the ultimate goal in stability of robotic systems. In this article the robust control for parallel robotic platforms has been presented. The proposed control methodology was compared with a widely used proportional-integral-derivative (PID) approach. The extensive computer simulations of the parallel robotic platform for both robust control and PID control have been presented.