ROBUST CONTROL OF THE C5 PARALLEL ROBOT

B. Achili, B. Daachi, A. Ali-Cherif, Y. Amirat

Abstract

This paper deals with the dynamic control of a parallel robot with C5 joints. Computed torque control and robust control have been studied and implemented. For this purpose, we have used the inverse dynamic model whose parameters have been experimentally identified. The closed loop stability has been studied using the Lyapunov principle. The addition of a robustness term based on sliding mode technique ensures good tracking performances. The experimental results show the effectiveness of the robust control.

References

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Paper Citation


in Harvard Style

Achili B., Daachi B., Ali-Cherif A. and Amirat Y. (2008). ROBUST CONTROL OF THE C5 PARALLEL ROBOT . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 183-186. DOI: 10.5220/0001499201830186


in Bibtex Style

@conference{icinco08,
author={B. Achili and B. Daachi and A. Ali-Cherif and Y. Amirat},
title={ROBUST CONTROL OF THE C5 PARALLEL ROBOT},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={183-186},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001499201830186},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - ROBUST CONTROL OF THE C5 PARALLEL ROBOT
SN - 978-989-8111-31-9
AU - Achili B.
AU - Daachi B.
AU - Ali-Cherif A.
AU - Amirat Y.
PY - 2008
SP - 183
EP - 186
DO - 10.5220/0001499201830186