Sliding Mode Control of Biglide Planar Parallel Manipulator

Mustapha Litim , Benyamine Allouche (1) , Abdelhafid Omari , Antoine Dequidt (1) , Laurent Vermeiren (1)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This work presents the control of a two-degree of freedom parallel manipulator using nonlinear sliding mode approach. The aim is to achieve a robust control for trajectory tracking. The control is based on the inverse dynamic model in the Cartesian space of the parallel manipulator. Kinematic analysis are also discussed. To guarantee the high performance on the tracking control. Biglide robot requires full knowledge on the system's dynamics. In this paper, some important properties of the parallel manipulators are considered to develop a sliding mode controller which can drive the movement tracking error to zero asymptotically. Numerical simulations are completed to show the effectiveness of the approach for a large parameter variations.

Mots clés: Trajectory; Manipulator dynamics; "Force"; Vectors; Kinematics; Parallel robots

Domaines: Automatique / Robotique

Mustapha Litim, Benyamine Allouche, Abdelhafid Omari, Antoine Dequidt, Laurent Vermeiren. Sliding Mode Control of Biglide Planar Parallel Manipulator. 11th International Conference on Informatics in Control, Automation and Robotics, Sep 2014, Vienne, Austria. pp.303-310, ⟨10.5220/0005015403030310⟩. ⟨hal-03418792⟩