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Robust control of a 3-DOF hybrid robot manipulator

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Abstract

This paper introduces a 3-DOF hybrid robotic manipulator which is constructed by combining a parallel mechanism and a pantograph to increase the high stiffness, as well the as workspace. We analyze its kinematics and dynamics by applying Lagrange’s method. Subsequently, we propose a robust tracking controller based on the Lyapunov approach for the manipulator in the presence of uncertainty. The scheme consists of two parts. The first part is the model-based computed torque controller, which is used to stabilize the nominal robot system. The second part is a robust compensating controller, which is designed to handle the uncertainty in the system. We propose a controller designed in Cartesian coordinates. The proposed controller guarantees practical stability.

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Authors and Affiliations

  1. College of Mechanical and Automotive Engineering, Hunan University, 410082, Changsha, China

    Bing Zhou & Yan Xu

Authors
  1. Bing Zhou
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  2. Yan Xu
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Correspondence to Bing Zhou.

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Zhou, B., Xu, Y. Robust control of a 3-DOF hybrid robot manipulator. Int J Adv Manuf Technol 33, 604–613 (2007). https://doi.org/10.1007/s00170-006-0474-x

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  • DOI: https://doi.org/10.1007/s00170-006-0474-x

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