loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: B. Achili 1 ; B. Daachi 2 ; A. Ali-Cherif 3 and Y. Amirat 2

Affiliations: 1 Laboratoire Images, Signaux et Systèmes intelligents; Laboratoire d’Informatique Avancée de Saint Denis, France ; 2 Laboratoire Images, Signaux et Systèmes intelligents, France ; 3 Laboratoire d’Informatique Avancée de Saint Denis, France

Keyword(s): Parallel robot, Robust control, Stability analysis.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

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.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.145.60.166

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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 3: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 183-186. DOI: 10.5220/0001499201830186

@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 3: ICINCO},
year={2008},
pages={183-186},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001499201830186},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - ROBUST CONTROL OF THE C5 PARALLEL ROBOT
SN - 978-989-8111-31-9
IS - 2184-2809
AU - Achili, B.
AU - Daachi, B.
AU - Ali-Cherif, A.
AU - Amirat, Y.
PY - 2008
SP - 183
EP - 186
DO - 10.5220/0001499201830186
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic