Abstract
This paper presents the design of a new 2 degrees of freedom parallel manipulator and its theoretical implementation as a precise solar tracker. The cinematic mathematical model of the mechanism is studied in detail and a robust control algorithm based on sliding mode control is introduced to perform the desired angular positions and velocities in the presence of disturbances/uncertainties. The numerical simulations are carried out to verify the behavior of the suggested controller.
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Acknowledgments
The authors thank DEGAPA - UNAM and grant SEP - CONACYT N. 251552 and AEM - Conacyt 262887 for the financial support.
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Díaz, A., Keshtkar, S., Moreno, J.A., Hernandez, E. (2019). Design and Control Strategy of a Low-Cost Parallel Robot for Precise Solar Tracking. In: Aspragathos, N., Koustoumpardis, P., Moulianitis, V. (eds) Advances in Service and Industrial Robotics. RAAD 2018. Mechanisms and Machine Science, vol 67. Springer, Cham. https://doi.org/10.1007/978-3-030-00232-9_36
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DOI: https://doi.org/10.1007/978-3-030-00232-9_36
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