Sliding Mode Control for a Spatial Parallel Manipulator Based of Differential-Algebraic Equations


Dang Danh Hoang†, Tran Xuan Minh†, Nguyen Van Quyen‡,*


† Thai Nguyen University of Technology, Vietnam.
‡ Hanoi University of Science and Technology, Vietnam.

Corresponding Author Email: tranxuanminh@tnut.edu.vn; quyen.nguyenvan@hust.edu.vn

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Parallel manipulators are characterized as having closed-loop kinematic chains. Parallel robots have received increasing attention due to their inherent advantages over conventional serial mechanisms, such as high rigidity, high load capacity, high velocity, and high precision. A definite advantage of parallel robots is that, in most cases, actuators can be placed on the truss, thus achieving a limited weight for the moving parts, which makes it possible for parallel robots to move at high speed. The motion equations of parallel spatial manipulators are a system of complicated differential-algebraic equations. So the construction of enough accurate and relatively simple mechanical models is needed. This paper introduces two mechanical models which can be used by control for 3-PRS parallel manipulator. Using the method sliding control to control 3-PRS parallel manipulator based on two different mechanical models is the article’s main content. Simulation results are performed to illustrate the performance of the implemented system. The numerical simulations in Matlab are implemented to show the response of the robot.