Kinematics and Dynamics for a 4-DOF Parallel Robot

Dinh, Kien Cuong; Dao, Ngoc Sang; Le, Hai Dang; Le, Hoang Lam; Cam, Tu Duong Thi; Tran, Duc Thien

doi:10.1109/icsse52999.2021.9538416

2021 International Conference on System Science and Engineering (ICSSE) 2021

DOI: 10.1109/icsse52999.2021.9538416

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Kinematics and Dynamics for a 4-DOF Parallel Robot

Kien Cuong Dinh

Ngoc Sang Dao

Hai Dang Le

et al.

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Cited by 2 publications

References 17 publications

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A Fault-tolerant Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator With Uncertainties and Actuator Faults

Tran,

Nha,

Van Thuyen

et al. 2024

Int. J. Control Autom. Syst.

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A Fault-tolerant Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator With Uncertainties and Actuator Faults

Tran,

Nha,

Van Thuyen

et al. 2024

Int. J. Control Autom. Syst.

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Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator in Practice

Tran,

Nguyen,

Nguyen

et al. 2023

JTE

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This paper proposes a synchronous sliding mode control (SSMC) method for a 4-DOF parallel robot model in practice with the influence of uncertain dynamics such as friction, external noise, and model error. A closed kinematic chain structure characterizes the parallel robot. The moving platform is controlled by four kinematic chains working together to follow a predetermined trajectory. However, traditional control methods only control each joint individually; if one of the actuators fails or has an external force, it can lead to system breakdown. Therefore, synchronous control to coordinate the operation of the arms is necessary. The synchronization algorithm is characterized by the cross-coupling error, which is the combination of tracking and synchronization errors for the system to achieve the synchronization goal. Cross-coupling error is used to design the sliding surface of the SSMC. The advantages of sliding mode control (SMC) are that it resists the influence of uncertain dynamics and it is combined with the synchronization algorithm. A control law is developed based on the sliding surface to ensure simultaneous convergence of both tracking and synchronization errors towards zero. The stability of the system is proven using the Lyapunov theory. In order to verify the effectiveness of the proposed approach, a 4-DOF parallel robot testbench is constructed. The SSMC controller results are compared with the testbench’s proportional-integral-derivative (PID), synchronous proportional-integral-derivative (SPID), and SMC controllers.

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Kinematics and Dynamics for a 4-DOF Parallel Robot

Cited by 2 publications

References 17 publications

A Fault-tolerant Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator With Uncertainties and Actuator Faults

A Fault-tolerant Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator With Uncertainties and Actuator Faults

Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator in Practice

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