Stabilization of a Two-DOF Spherical Parallel Robot via a Novel Adaptive Approach

摘要

This paper proposes a control strategy for using a 2-Degree-of-Freedom (DOF) parallel robot as a camera stabilizer. To configure the stabilizer, a gyro sensor is mounted on the end-effector of the robot and the data is transmitted to a PC in order to permanently command two servo motors to the end of compensating the external disturbances. A novel adaptive approach is utilized to stabilize the end-effector of the 2-DOF Spherical Parallel Robot under study, where an adaptive parameter should be adjusted in order to damp disturbances, exponentially. To assess the method, first in SimMechanics, operation of the 2-DOF robot with the adaptive approach is simulated and examined. In addition, a well-known and robust decay algorithm is employed to show the superiority of the proposed method. Then, by implementing on the real structure, the performance of the adaptive controller is validated. The proposed method leads to better performance in compare with the decay algorithm, from view point of quantitative indices of tracking, stabilization and smoothness.