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A comparative study of two model-based control techniques for the industrial manipulator

Published online by Cambridge University Press:  17 October 2016

Ahmet Dumlu ,
Köksal Erentürk ,
Alirıza Kaleli  and
Kağan Koray Ayten
Ahmet Dumlu*
Affiliation:
Department of Electrical and Electronics Engineering, College of Engineering, Ataturk University, 25240 Erzurum, Turkey. E-mails: keren@atauni.edu.tr, kagan.koray@erzurum.edu.tr
Köksal Erentürk
Affiliation:
Department of Electrical and Electronics Engineering, College of Engineering, Ataturk University, 25240 Erzurum, Turkey. E-mails: keren@atauni.edu.tr, kagan.koray@erzurum.edu.tr
Alirıza Kaleli
Affiliation:
Department of Mechatronics Engineering, College of Engineering, Ataturk University, 25240 Erzurum, Turkey. E-mail: arizakaleli@atauni.edu.tr
Kağan Koray Ayten
Affiliation:
Department of Electrical and Electronics Engineering, College of Engineering, Ataturk University, 25240 Erzurum, Turkey. E-mails: keren@atauni.edu.tr, kagan.koray@erzurum.edu.tr
*
*Corresponding author. E-mail: ahmetdumlu@erzurum.edu.tr
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Summary

In this paper, design, analysis and real-time trajectory tracking control of a 6-degree of freedom revolute spherical-spherical type parallel manipulator, actuated by six hybrid stepper motors, has been studied. Two different control approaches have been used to improve the trajectory tracking performance of the designed manipulator. The first approach considered a single input-single output (SISO) linear quadratic regulator (LQR) for trajectory tracking control of the manipulator. Another controller type based on a nonlinear sliding mode controller method has been utilized to take decoupled dynamic approximation model of the manipulator into account and to improve tracking performance of the manipulator. Real-time experimental results for the two different control techniques have been verified. Finally, according to the results, the nonlinear sliding mode controller method has improved the tracking performance of the designed manipulator.

Keywords

Parallel manipulatorkinematics analysisdynamics analysishybrid stepper motorlinear quadratic optimal regulator controlsliding mode control
Type
Articles
Information
Robotica , Volume 35 , Issue 10 , October 2017 , pp. 2036 - 2055
Copyright
Copyright © Cambridge University Press 2016 

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