Dynamic Sliding Mode Control Applied in Parallel Robot System

摘要

Parallel robot has many good features, such as high rigidity, great load and high precision. Directed against the parallel robot mechanism with AC servo-motor drive, a model of controlling system was established. A kind of dynamic sliding mode control algorithm was designed, and the stability of this control algorithm was analyzed. A simulative experiment of trajectory tracking was made on the Matlab / Simulink. The simulation result was given to prove the validity of the variable structure controller, and a good performance in tracking, and the high-accuracy real time control of the parallel robot mechanism is implemented.